Line ending property changes.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1649 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2011-02-14 04:27:07 +00:00
parent dee05d1838
commit b9152dc544
5 changed files with 361 additions and 361 deletions

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@ -1,29 +1,29 @@
/*
AP_Compass_HIL.cpp - Arduino Library for HIL model of HMC5843 I2C Magnetometer
Code by James Goppert. DIYDrones.com
This library is free software; you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include "AP_Compass_HIL.h"
// Public Methods //////////////////////////////////////////////////////////////
void AP_Compass_HIL::read()
{
// values set by setHIL function
}
// Update raw magnetometer values from HIL data
//
void AP_Compass_HIL::setHIL(float _mag_x, float _mag_y, float _mag_z)
{
// TODO: map floats to raw
mag_x = _mag_x;
mag_y = _mag_y;
mag_z = _mag_z;
}
/*
AP_Compass_HIL.cpp - Arduino Library for HIL model of HMC5843 I2C Magnetometer
Code by James Goppert. DIYDrones.com
This library is free software; you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include "AP_Compass_HIL.h"
// Public Methods //////////////////////////////////////////////////////////////
void AP_Compass_HIL::read()
{
// values set by setHIL function
}
// Update raw magnetometer values from HIL data
//
void AP_Compass_HIL::setHIL(float _mag_x, float _mag_y, float _mag_z)
{
// TODO: map floats to raw
mag_x = _mag_x;
mag_y = _mag_y;
mag_z = _mag_z;
}

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#ifndef AP_Compass_HIL_H
#define AP_Compass_HIL_H
#include "Compass.h"
class AP_Compass_HIL : public Compass
{
public:
AP_Compass_HIL(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) {}
virtual bool init();
virtual void read();
void setHIL(float Mag_X, float Mag_Y, float Mag_Z);
};
#endif
#ifndef AP_Compass_HIL_H
#define AP_Compass_HIL_H
#include "Compass.h"
class AP_Compass_HIL : public Compass
{
public:
AP_Compass_HIL(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) {}
virtual bool init();
virtual void read();
void setHIL(float Mag_X, float Mag_Y, float Mag_Z);
};
#endif

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@ -1,141 +1,141 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/*
AP_Compass_HMC5843.cpp - Arduino Library for HMC5843 I2C magnetometer
Code by Jordi Muñoz and Jose Julio. DIYDrones.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
Sensor is conected to I2C port
Sensor is initialized in Continuos mode (10Hz)
*/
// AVR LibC Includes
#include <math.h>
#include "WConstants.h"
#include <Wire.h>
#include "AP_Compass_HMC5843.h"
#define COMPASS_ADDRESS 0x1E
#define ConfigRegA 0x00
#define ConfigRegB 0x01
#define magGain 0x20
#define PositiveBiasConfig 0x11
#define NegativeBiasConfig 0x12
#define NormalOperation 0x10
#define ModeRegister 0x02
#define ContinuousConversion 0x00
#define SingleConversion 0x01
// Public Methods //////////////////////////////////////////////////////////////
bool AP_Compass_HMC5843::init()
{
unsigned long currentTime = millis(); // record current time
int numAttempts = 0;
int success = 0;
delay(10);
// calibration initialisation
calibration[0] = 1.0;
calibration[1] = 1.0;
calibration[2] = 1.0;
while( success == 0 && numAttempts < 5 )
{
// record number of attempts at initialisation
numAttempts++;
// force positiveBias (compass should return 715 for all channels)
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send(ConfigRegA);
Wire.send(PositiveBiasConfig);
if (0 != Wire.endTransmission())
continue; // compass not responding on the bus
delay(50);
// set gains
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send(ConfigRegB);
Wire.send(magGain);
Wire.endTransmission();
delay(10);
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send(ModeRegister);
Wire.send(SingleConversion);
Wire.endTransmission();
delay(10);
// read values from the compass
read();
delay(10);
// calibrate
if( abs(mag_x) > 500 && abs(mag_x) < 1000 && abs(mag_y) > 500 && abs(mag_y) < 1000 && abs(mag_z) > 500 && abs(mag_z) < 1000)
{
calibration[0] = fabs(715.0 / mag_x);
calibration[1] = fabs(715.0 / mag_y);
calibration[2] = fabs(715.0 / mag_z);
// mark success
success = 1;
}
// leave test mode
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send(ConfigRegA);
Wire.send(NormalOperation);
Wire.endTransmission();
delay(50);
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send(ModeRegister);
Wire.send(ContinuousConversion); // Set continuous mode (default to 10Hz)
Wire.endTransmission(); // End transmission
delay(50);
}
return(success);
}
// Read Sensor data
void AP_Compass_HMC5843::read()
{
int i = 0;
byte buff[6];
Vector3f rot_mag;
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send(0x03); //sends address to read from
Wire.endTransmission(); //end transmission
//Wire.beginTransmission(COMPASS_ADDRESS);
Wire.requestFrom(COMPASS_ADDRESS, 6); // request 6 bytes from device
while(Wire.available())
{
buff[i] = Wire.receive(); // receive one byte
i++;
}
Wire.endTransmission(); //end transmission
if (i==6) // All bytes received?
{
// MSB byte first, then LSB, X,Y,Z
mag_x = -((((int)buff[0]) << 8) | buff[1]) * calibration[0]; // X axis
mag_y = ((((int)buff[2]) << 8) | buff[3]) * calibration[1]; // Y axis
mag_z = -((((int)buff[4]) << 8) | buff[5]) * calibration[2]; // Z axis
last_update = millis(); // record time of update
// rotate and offset the magnetometer values
// XXX this could well be done in common code...
rot_mag = _orientation_matrix.get() * Vector3f(mag_x,mag_y,mag_z);
rot_mag = rot_mag + _offset.get();
mag_x = rot_mag.x;
mag_y = rot_mag.y;
mag_z = rot_mag.z;
}
}
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/*
AP_Compass_HMC5843.cpp - Arduino Library for HMC5843 I2C magnetometer
Code by Jordi Muñoz and Jose Julio. DIYDrones.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
Sensor is conected to I2C port
Sensor is initialized in Continuos mode (10Hz)
*/
// AVR LibC Includes
#include <math.h>
#include "WConstants.h"
#include <Wire.h>
#include "AP_Compass_HMC5843.h"
#define COMPASS_ADDRESS 0x1E
#define ConfigRegA 0x00
#define ConfigRegB 0x01
#define magGain 0x20
#define PositiveBiasConfig 0x11
#define NegativeBiasConfig 0x12
#define NormalOperation 0x10
#define ModeRegister 0x02
#define ContinuousConversion 0x00
#define SingleConversion 0x01
// Public Methods //////////////////////////////////////////////////////////////
bool AP_Compass_HMC5843::init()
{
unsigned long currentTime = millis(); // record current time
int numAttempts = 0;
int success = 0;
delay(10);
// calibration initialisation
calibration[0] = 1.0;
calibration[1] = 1.0;
calibration[2] = 1.0;
while( success == 0 && numAttempts < 5 )
{
// record number of attempts at initialisation
numAttempts++;
// force positiveBias (compass should return 715 for all channels)
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send(ConfigRegA);
Wire.send(PositiveBiasConfig);
if (0 != Wire.endTransmission())
continue; // compass not responding on the bus
delay(50);
// set gains
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send(ConfigRegB);
Wire.send(magGain);
Wire.endTransmission();
delay(10);
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send(ModeRegister);
Wire.send(SingleConversion);
Wire.endTransmission();
delay(10);
// read values from the compass
read();
delay(10);
// calibrate
if( abs(mag_x) > 500 && abs(mag_x) < 1000 && abs(mag_y) > 500 && abs(mag_y) < 1000 && abs(mag_z) > 500 && abs(mag_z) < 1000)
{
calibration[0] = fabs(715.0 / mag_x);
calibration[1] = fabs(715.0 / mag_y);
calibration[2] = fabs(715.0 / mag_z);
// mark success
success = 1;
}
// leave test mode
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send(ConfigRegA);
Wire.send(NormalOperation);
Wire.endTransmission();
delay(50);
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send(ModeRegister);
Wire.send(ContinuousConversion); // Set continuous mode (default to 10Hz)
Wire.endTransmission(); // End transmission
delay(50);
}
return(success);
}
// Read Sensor data
void AP_Compass_HMC5843::read()
{
int i = 0;
byte buff[6];
Vector3f rot_mag;
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send(0x03); //sends address to read from
Wire.endTransmission(); //end transmission
//Wire.beginTransmission(COMPASS_ADDRESS);
Wire.requestFrom(COMPASS_ADDRESS, 6); // request 6 bytes from device
while(Wire.available())
{
buff[i] = Wire.receive(); // receive one byte
i++;
}
Wire.endTransmission(); //end transmission
if (i==6) // All bytes received?
{
// MSB byte first, then LSB, X,Y,Z
mag_x = -((((int)buff[0]) << 8) | buff[1]) * calibration[0]; // X axis
mag_y = ((((int)buff[2]) << 8) | buff[3]) * calibration[1]; // Y axis
mag_z = -((((int)buff[4]) << 8) | buff[5]) * calibration[2]; // Z axis
last_update = millis(); // record time of update
// rotate and offset the magnetometer values
// XXX this could well be done in common code...
rot_mag = _orientation_matrix.get() * Vector3f(mag_x,mag_y,mag_z);
rot_mag = rot_mag + _offset.get();
mag_x = rot_mag.x;
mag_y = rot_mag.y;
mag_z = rot_mag.z;
}
}

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#ifndef AP_Compass_HMC5843_H
#define AP_Compass_HMC5843_H
#include <AP_Common.h>
#include <AP_Math.h>
#include "Compass.h"
// orientations for DIYDrones magnetometer
#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD ROTATION_NONE
#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_45
#define AP_COMPASS_COMPONENTS_UP_PINS_RIGHT ROTATION_YAW_90
#define AP_COMPASS_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_135
#define AP_COMPASS_COMPONENTS_UP_PINS_BACK ROTATION_YAW_180
#define AP_COMPASS_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_225
#define AP_COMPASS_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_270
#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_315
#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180
#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_45
#define AP_COMPASS_COMPONENTS_DOWN_PINS_RIGHT ROTATION_ROLL_180_YAW_90
#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_135
#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK ROTATION_PITCH_180
#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_225
#define AP_COMPASS_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180_YAW_270
#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_315
// orientations for Sparkfun magnetometer
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD ROTATION_YAW_270
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_315
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_RIGHT ROTATION_NONE
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_45
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK ROTATION_YAW_90
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_135
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_180
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_225
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180_YAW_90
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_135
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_RIGHT ROTATION_PITCH_180
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_225
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK ROTATION_ROLL_180_YAW_270
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_315
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_45
class AP_Compass_HMC5843 : public Compass
{
private:
float calibration[3];
public:
AP_Compass_HMC5843(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) {}
virtual bool init();
virtual void read();
};
#endif
#ifndef AP_Compass_HMC5843_H
#define AP_Compass_HMC5843_H
#include <AP_Common.h>
#include <AP_Math.h>
#include "Compass.h"
// orientations for DIYDrones magnetometer
#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD ROTATION_NONE
#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_45
#define AP_COMPASS_COMPONENTS_UP_PINS_RIGHT ROTATION_YAW_90
#define AP_COMPASS_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_135
#define AP_COMPASS_COMPONENTS_UP_PINS_BACK ROTATION_YAW_180
#define AP_COMPASS_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_225
#define AP_COMPASS_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_270
#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_315
#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180
#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_45
#define AP_COMPASS_COMPONENTS_DOWN_PINS_RIGHT ROTATION_ROLL_180_YAW_90
#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_135
#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK ROTATION_PITCH_180
#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_225
#define AP_COMPASS_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180_YAW_270
#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_315
// orientations for Sparkfun magnetometer
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD ROTATION_YAW_270
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_315
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_RIGHT ROTATION_NONE
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_45
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK ROTATION_YAW_90
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_135
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_180
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_225
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180_YAW_90
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_135
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_RIGHT ROTATION_PITCH_180
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_225
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK ROTATION_ROLL_180_YAW_270
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_315
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_45
class AP_Compass_HMC5843 : public Compass
{
private:
float calibration[3];
public:
AP_Compass_HMC5843(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) {}
virtual bool init();
virtual void read();
};
#endif

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#ifndef Compass_h
#define Compass_h
#include <inttypes.h>
#include <AP_Common.h>
#include <AP_Math.h>
// standard rotation matrices
#define ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1)
#define ROTATION_YAW_45 Matrix3f(0.70710678, -0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, 1)
#define ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
#define ROTATION_YAW_135 Matrix3f(-0.70710678, -0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, 1)
#define ROTATION_YAW_180 Matrix3f(-1, 0, 0, 0, -1, 0, 0, 0, 1)
#define ROTATION_YAW_225 Matrix3f(-0.70710678, 0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, 1)
#define ROTATION_YAW_270 Matrix3f(0, 1, 0, -1, 0, 0, 0, 0, 1)
#define ROTATION_YAW_315 Matrix3f(0.70710678, 0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, 1)
#define ROTATION_ROLL_180 Matrix3f(1, 0, 0, 0, -1, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_45 Matrix3f(0.70710678, 0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_90 Matrix3f(0, 1, 0, 1, 0, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_135 Matrix3f(-0.70710678, 0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, -1)
#define ROTATION_PITCH_180 Matrix3f(-1, 0, 0, 0, 1, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_225 Matrix3f(-0.70710678, -0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_270 Matrix3f(0, -1, 0, -1, 0, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_315 Matrix3f(0.70710678, -0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, -1)
class Compass
{
public:
int mag_x; ///< magnetic field strength along the X axis
int mag_y; ///< magnetic field strength along the Y axis
int mag_z; ///< magnetic field strength along the Z axis
float heading; ///< compass heading in radians
float heading_x; ///< compass vector X magnitude
float heading_y; ///< compass vector Y magnitude
unsigned long last_update; ///< millis() time of last update
/// Constructor
///
/// @param key Storage key used for configuration data.
///
Compass(AP_Var::Key key);
/// Initialize the compass device.
///
/// @returns True if the compass was initialized OK, false if it was not
/// found or is not functioning.
///
virtual bool init();
/// Read the compass and update the mag_ variables.
///
virtual void read() = 0;
/// Calculate the tilt-compensated heading_ variables.
///
/// @param roll The current airframe roll angle.
/// @param pitch The current airframe pitch angle.
///
virtual void calculate(float roll, float pitch);
/// Set the compass orientation matrix, used to correct for
/// various compass mounting positions.
///
/// @param rotation_matrix Rotation matrix to transform magnetometer readings
/// to the body frame.
///
virtual void set_orientation(const Matrix3f &rotation_matrix);
/// Sets the compass offset x/y/z values.
///
/// @param offsets Offsets to the raw mag_ values.
///
virtual void set_offsets(const Vector3f &offsets);
/// Saves the current compass offset x/y/z values.
///
/// This should be invoked periodically to save the offset values maintained by
/// ::null_offsets.
///
virtual void save_offsets();
/// Returns the current offset values
///
/// @returns The current compass offsets.
///
virtual Vector3f &get_offsets();
/// Program new offset values.
///
/// XXX DEPRECATED
///
/// @param x Offset to the raw mag_x value.
/// @param y Offset to the raw mag_y value.
/// @param z Offset to the raw mag_z value.
///
void set_offsets(int x, int y, int z) { set_offsets(Vector3f(x, y, z)); }
/// Perform automatic offset updates using the results of the DCM matrix.
///
/// @param dcm_matrix The DCM result matrix.
///
void null_offsets(const Matrix3f &dcm_matrix);
/// Sets the local magnetic field declination.
///
/// @param radians Local field declination.
///
virtual void set_declination(float radians);
protected:
AP_Var_group _group; ///< storage group holding the compass' calibration data
AP_VarS<Matrix3f> _orientation_matrix;
AP_VarS<Vector3f> _offset;
AP_Float _declination;
bool _null_init_done; ///< first-time-around flag used by offset nulling
Matrix3f _last_dcm_matrix; ///< previous DCM matrix used by offset nulling
Vector3f _mag_body_last; ///< ?? used by offset nulling
};
#endif
#ifndef Compass_h
#define Compass_h
#include <inttypes.h>
#include <AP_Common.h>
#include <AP_Math.h>
// standard rotation matrices
#define ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1)
#define ROTATION_YAW_45 Matrix3f(0.70710678, -0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, 1)
#define ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
#define ROTATION_YAW_135 Matrix3f(-0.70710678, -0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, 1)
#define ROTATION_YAW_180 Matrix3f(-1, 0, 0, 0, -1, 0, 0, 0, 1)
#define ROTATION_YAW_225 Matrix3f(-0.70710678, 0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, 1)
#define ROTATION_YAW_270 Matrix3f(0, 1, 0, -1, 0, 0, 0, 0, 1)
#define ROTATION_YAW_315 Matrix3f(0.70710678, 0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, 1)
#define ROTATION_ROLL_180 Matrix3f(1, 0, 0, 0, -1, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_45 Matrix3f(0.70710678, 0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_90 Matrix3f(0, 1, 0, 1, 0, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_135 Matrix3f(-0.70710678, 0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, -1)
#define ROTATION_PITCH_180 Matrix3f(-1, 0, 0, 0, 1, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_225 Matrix3f(-0.70710678, -0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_270 Matrix3f(0, -1, 0, -1, 0, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_315 Matrix3f(0.70710678, -0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, -1)
class Compass
{
public:
int mag_x; ///< magnetic field strength along the X axis
int mag_y; ///< magnetic field strength along the Y axis
int mag_z; ///< magnetic field strength along the Z axis
float heading; ///< compass heading in radians
float heading_x; ///< compass vector X magnitude
float heading_y; ///< compass vector Y magnitude
unsigned long last_update; ///< millis() time of last update
/// Constructor
///
/// @param key Storage key used for configuration data.
///
Compass(AP_Var::Key key);
/// Initialize the compass device.
///
/// @returns True if the compass was initialized OK, false if it was not
/// found or is not functioning.
///
virtual bool init();
/// Read the compass and update the mag_ variables.
///
virtual void read() = 0;
/// Calculate the tilt-compensated heading_ variables.
///
/// @param roll The current airframe roll angle.
/// @param pitch The current airframe pitch angle.
///
virtual void calculate(float roll, float pitch);
/// Set the compass orientation matrix, used to correct for
/// various compass mounting positions.
///
/// @param rotation_matrix Rotation matrix to transform magnetometer readings
/// to the body frame.
///
virtual void set_orientation(const Matrix3f &rotation_matrix);
/// Sets the compass offset x/y/z values.
///
/// @param offsets Offsets to the raw mag_ values.
///
virtual void set_offsets(const Vector3f &offsets);
/// Saves the current compass offset x/y/z values.
///
/// This should be invoked periodically to save the offset values maintained by
/// ::null_offsets.
///
virtual void save_offsets();
/// Returns the current offset values
///
/// @returns The current compass offsets.
///
virtual Vector3f &get_offsets();
/// Program new offset values.
///
/// XXX DEPRECATED
///
/// @param x Offset to the raw mag_x value.
/// @param y Offset to the raw mag_y value.
/// @param z Offset to the raw mag_z value.
///
void set_offsets(int x, int y, int z) { set_offsets(Vector3f(x, y, z)); }
/// Perform automatic offset updates using the results of the DCM matrix.
///
/// @param dcm_matrix The DCM result matrix.
///
void null_offsets(const Matrix3f &dcm_matrix);
/// Sets the local magnetic field declination.
///
/// @param radians Local field declination.
///
virtual void set_declination(float radians);
protected:
AP_Var_group _group; ///< storage group holding the compass' calibration data
AP_VarS<Matrix3f> _orientation_matrix;
AP_VarS<Vector3f> _offset;
AP_Float _declination;
bool _null_init_done; ///< first-time-around flag used by offset nulling
Matrix3f _last_dcm_matrix; ///< previous DCM matrix used by offset nulling
Vector3f _mag_body_last; ///< ?? used by offset nulling
};
#endif