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APMrover2: implement on-board compass calibration for APMrover

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This commit is contained in:
Siddharth Bharat Purohit 2015-07-30 18:24:32 -07:00 committed by Andrew Tridgell
parent f4cdf57d8f
commit b8a9f9ebc5
4 changed files with 29 additions and 1 deletions
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1
APMrover2/APMrover2.cpp
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@ -77,6 +77,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] PROGMEM = {
SCHED_TASK(compass_accumulate, 1, 900), SCHED_TASK(compass_accumulate, 1, 900),
SCHED_TASK(update_notify, 1, 300), SCHED_TASK(update_notify, 1, 300),
SCHED_TASK(one_second_loop, 50, 3000), SCHED_TASK(one_second_loop, 50, 3000),
SCHED_TASK(compass_cal_update, 1, 100),
#if FRSKY_TELEM_ENABLED == ENABLED #if FRSKY_TELEM_ENABLED == ENABLED
SCHED_TASK(frsky_telemetry_send, 10, 100), SCHED_TASK(frsky_telemetry_send, 10, 100),
#endif #endif

21
APMrover2/GCS_Mavlink.cpp
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@ -589,13 +589,24 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
mavlink_msg_mission_item_reached_send(chan, mission_item_reached_index); mavlink_msg_mission_item_reached_send(chan, mission_item_reached_index);
break; break;
case MSG_MAG_CAL_PROGRESS:
CHECK_PAYLOAD_SIZE(MAG_CAL_PROGRESS);
rover.compass.send_mag_cal_progress(chan);
break;
case MSG_MAG_CAL_REPORT:
CHECK_PAYLOAD_SIZE(MAG_CAL_REPORT);
rover.compass.send_mag_cal_report(chan);
break;
case MSG_RETRY_DEFERRED: case MSG_RETRY_DEFERRED:
case MSG_TERRAIN: case MSG_TERRAIN:
case MSG_OPTICAL_FLOW: case MSG_OPTICAL_FLOW:
case MSG_GIMBAL_REPORT: case MSG_GIMBAL_REPORT:
case MSG_RPM: case MSG_RPM:
break; // just here to prevent a warning break; // just here to prevent a warning
}
}
return true; return true;
@ -820,6 +831,8 @@ GCS_MAVLINK::data_stream_send(void)
send_message(MSG_RANGEFINDER); send_message(MSG_RANGEFINDER);
send_message(MSG_SYSTEM_TIME); send_message(MSG_SYSTEM_TIME);
send_message(MSG_BATTERY2); send_message(MSG_BATTERY2);
send_message(MSG_MAG_CAL_REPORT);
send_message(MSG_MAG_CAL_PROGRESS);
send_message(MSG_MOUNT_STATUS); send_message(MSG_MOUNT_STATUS);
send_message(MSG_EKF_STATUS_REPORT); send_message(MSG_EKF_STATUS_REPORT);
} }
@ -1036,6 +1049,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAV_CMD_DO_START_MAG_CAL:
case MAV_CMD_DO_ACCEPT_MAG_CAL:
case MAV_CMD_DO_CANCEL_MAG_CAL:
result = rover.compass.handle_mag_cal_command(packet);
break;
default: default:
break; break;
} }

1
APMrover2/Rover.h
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@ -372,6 +372,7 @@ private:
void update_alt(); void update_alt();
void gcs_failsafe_check(void); void gcs_failsafe_check(void);
void compass_accumulate(void); void compass_accumulate(void);
void compass_cal_update(void);
void update_compass(void); void update_compass(void);
void update_logging1(void); void update_logging1(void);
void update_logging2(void); void update_logging2(void);

7
APMrover2/sensors.cpp
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@ -28,6 +28,13 @@ void Rover::read_receiver_rssi(void)
receiver_rssi = rssi.read_receiver_rssi_uint8(); receiver_rssi = rssi.read_receiver_rssi_uint8();
} }
//Calibrate compass
void Rover::compass_cal_update() {
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
}
// read the sonars // read the sonars
void Rover::read_sonars(void) void Rover::read_sonars(void)
{ {