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AP_Compass: allow for AK09916 correction by heater duty cycle

This commit is contained in:
Andrew Tridgell 2021-02-08 14:44:55 +11:00 committed by Peter Barker
parent 1097d04e5d
commit a90b54ba6e
1 changed files with 14 additions and 0 deletions
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14
libraries/AP_Compass/AP_Compass_AK09916.cpp
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@ -24,6 +24,7 @@
#include <stdio.h>
#include <AP_InertialSensor/AP_InertialSensor_Invensensev2.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
extern const AP_HAL::HAL &hal;
@ -288,6 +289,19 @@ void AP_Compass_AK09916::_update()
_make_adc_sensitivity_adjustment(raw_field);
raw_field *= AK09916_MILLIGAUSS_SCALE;
#ifdef HAL_AK09916_HEATER_OFFSET
/*
the internal AK09916 can be impacted by the magnetic field from
a heater. We use the heater duty cycle to correct for the error
*/
if (AP_HAL::Device::devid_get_bus_type(_bus->get_bus_id()) == AP_HAL::Device::BUS_TYPE_SPI) {
auto *bc = AP::boardConfig();
if (bc) {
raw_field += HAL_AK09916_HEATER_OFFSET * bc->get_heater_duty_cycle() * 0.01;
}
}
#endif
accumulate_sample(raw_field, _compass_instance, 10);
}