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AP_Compass - moved example sketch from APM_Compass to AP_Compass 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1112 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
rmackay9@yahoo.com 2010-12-12 13:13:12 +00:00
parent f94a126061
commit af741882c6
2 changed files with 72 additions and 24 deletions
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84
libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde
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@ -7,35 +7,79 @@
#include <AP_Compass_HMC5843.h> // Compass Library #include <AP_Compass_HMC5843.h> // Compass Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library #include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#define ToRad(x) (x*0.01745329252) // *pi/180
#define ToDeg(x) (x*57.2957795131) // *180/pi
AP_Compass_HMC5843 compass; AP_Compass_HMC5843 compass;
unsigned long timer; unsigned long timer;
void setup() void setup()
{ {
compass.init(); // Initialization Serial.begin(38400);
Serial.begin(38400); Serial.println("Compass library test (HMC5843)");
Serial.println("AP Compass library test (HMC5843)"); compass.init(); // Initialization
delay(1000);
timer = millis(); compass.set_orientation(AP_COMPASS_COMPONENTS_UP_PINS_FORWARD); // set compass's orientation on aircraft
compass.set_offsets(0,0,0); // set offsets to account for surrounding interference
compass.set_declination(ToRad(0.0)); // set local difference between magnetic north and true north
delay(1000);
timer = millis();
} }
void loop() void loop()
{ {
float tmp; static float min[3], max[3], offset[3];
if((millis()- timer) > 100){ if((millis()- timer) > 100)
timer = millis(); {
compass.read(); timer = millis();
compass.calculate(0, 0); // roll = 0, pitch = 0 for this example compass.read();
Serial.print("Heading:"); compass.calculate(0,0); // roll = 0, pitch = 0 for this example
Serial.print(compass.heading, DEC);
Serial.print(" ("); // capture min
Serial.print(compass.mag_x); if( compass.mag_x < min[0] )
Serial.print(","); min[0] = compass.mag_x;
Serial.print(compass.mag_y); if( compass.mag_y < min[1] )
Serial.print(","); min[1] = compass.mag_y;
Serial.print(compass.mag_z); if( compass.mag_z < min[2] )
Serial.println(" )"); min[2] = compass.mag_z;
}
// capture max
if( compass.mag_x > max[0] )
max[0] = compass.mag_x;
if( compass.mag_y > max[1] )
max[1] = compass.mag_y;
if( compass.mag_z > max[2] )
max[2] = compass.mag_z;
// calculate offsets
offset[0] = -(max[0]+min[0])/2;
offset[1] = -(max[1]+min[1])/2;
offset[2] = -(max[2]+min[2])/2;
// display all to user
Serial.print("Heading:");
Serial.print(ToDeg(compass.heading));
Serial.print(" (");
Serial.print(compass.mag_x);
Serial.print(",");
Serial.print(compass.mag_y);
Serial.print(",");
Serial.print(compass.mag_z);
Serial.print(")");
// display offsets
Serial.print("\t offsets(");
Serial.print(offset[0]);
Serial.print(",");
Serial.print(offset[1]);
Serial.print(",");
Serial.print(offset[2]);
Serial.print(")");
Serial.println();
}
} }

6
libraries/AP_Compass/keywords.txt
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@ -2,14 +2,18 @@ Compass KEYWORD1
AP_Compass KEYWORD1 AP_Compass KEYWORD1
APM_Compass KEYWORD1 APM_Compass KEYWORD1
init KEYWORD2 init KEYWORD2
update KEYWORD2 read KEYWORD2
calculate KEYWORD2 calculate KEYWORD2
set_orientation KEYWORD2
set_offsets KEYWORD2
set_declination KEYWORD2
heading KEYWORD2 heading KEYWORD2
heading_X KEYWORD2 heading_X KEYWORD2
heading_Y KEYWORD2 heading_Y KEYWORD2
mag_x KEYWORD2 mag_x KEYWORD2
mag_y KEYWORD2 mag_y KEYWORD2
mag_z KEYWORD2 mag_z KEYWORD2
last_update KEYWORD2