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AP_Periph: support HiRes magnetometer data

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This commit is contained in:
Andrew Tridgell 2024-03-03 08:48:22 +11:00
parent 9196a3ee5d
commit 9aade22c7e
1 changed files with 27 additions and 4 deletions
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31
Tools/AP_Periph/compass.cpp
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@ -16,6 +16,10 @@
#define AP_PERIPH_PROBE_CONTINUOUS 0 #define AP_PERIPH_PROBE_CONTINUOUS 0
#endif #endif
#ifndef AP_PERIPH_MAG_HIRES
#define AP_PERIPH_MAG_HIRES 0
#endif
/* /*
update CAN magnetometer update CAN magnetometer
*/ */
@ -54,14 +58,16 @@ void AP_Periph_FW::can_mag_update(void)
} }
last_mag_update_ms = compass.last_update_ms(); last_mag_update_ms = compass.last_update_ms();
const Vector3f &field = compass.get_field(); Vector3f field_Ga = compass.get_field() * 0.001;
#if !AP_PERIPH_MAG_HIRES
// normal message, float16 values
uavcan_equipment_ahrs_MagneticFieldStrength pkt {}; uavcan_equipment_ahrs_MagneticFieldStrength pkt {};
// the canard dsdl compiler doesn't understand float16
for (uint8_t i=0; i<3; i++) { for (uint8_t i=0; i<3; i++) {
pkt.magnetic_field_ga[i] = field[i] * 0.001; pkt.magnetic_field_ga[i] = field_Ga[i];
} }
uint8_t buffer[UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_MAX_SIZE] {}; uint8_t buffer[UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_MAX_SIZE] {};
uint16_t total_size = uavcan_equipment_ahrs_MagneticFieldStrength_encode(&pkt, buffer, !periph.canfdout()); uint16_t total_size = uavcan_equipment_ahrs_MagneticFieldStrength_encode(&pkt, buffer, !periph.canfdout());
@ -70,6 +76,23 @@ void AP_Periph_FW::can_mag_update(void)
CANARD_TRANSFER_PRIORITY_LOW, CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0], &buffer[0],
total_size); total_size);
#else
// High resolution magnetometer, for magnetic surveys
dronecan_sensors_magnetometer_MagneticFieldStrengthHiRes pkt {};
for (uint8_t i=0; i<3; i++) {
pkt.magnetic_field_ga[i] = field_Ga[i];
}
uint8_t buffer[DRONECAN_SENSORS_MAGNETOMETER_MAGNETICFIELDSTRENGTHHIRES_MAX_SIZE] {};
uint16_t total_size = dronecan_sensors_magnetometer_MagneticFieldStrengthHiRes_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(DRONECAN_SENSORS_MAGNETOMETER_MAGNETICFIELDSTRENGTHHIRES_SIGNATURE,
DRONECAN_SENSORS_MAGNETOMETER_MAGNETICFIELDSTRENGTHHIRES_ID,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
#endif // AP_PERIPH_MAG_HIRES
} }
#endif // HAL_PERIPH_ENABLE_MAG #endif // HAL_PERIPH_ENABLE_MAG