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AP_Compass: publish raw and unfiltered field for HMC5843 compass

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Siddharth Bharat Purohit 2015-07-30 21:59:38 -07:00 committed by Andrew Tridgell
parent 8cdc9748b3
commit cdd8bae6ac
2 changed files with 46 additions and 30 deletions
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16
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -178,6 +178,7 @@ void AP_Compass_HMC5843::accumulate(void)
// have the right orientation!) // have the right orientation!)
return; return;
} }
uint32_t tnow = hal.scheduler->micros(); uint32_t tnow = hal.scheduler->micros();
if (_accum_count != 0 && (tnow - _last_accum_time) < 13333) { if (_accum_count != 0 && (tnow - _last_accum_time) < 13333) {
// the compass gets new data at 75Hz // the compass gets new data at 75Hz
@ -197,6 +198,21 @@ void AP_Compass_HMC5843::accumulate(void)
// for ease of calculation. We expect to do reads at 10Hz, and // for ease of calculation. We expect to do reads at 10Hz, and
// we get new data at most 75Hz, so we don't expect to // we get new data at most 75Hz, so we don't expect to
// accumulate more than 8 before a read // accumulate more than 8 before a read
// get raw_field - sensor frame, uncorrected
Vector3f raw_field = Vector3f(_mag_x, _mag_y, _mag_z);
// rotate raw_field from sensor frame to body frame
rotate_field(raw_field, _compass_instance);
// publish raw_field (uncorrected point sample) for calibration use
publish_raw_field(raw_field, tnow, _compass_instance);
// correct raw_field for known errors
correct_field(raw_field, _compass_instance);
// publish raw_field (corrected point sample) for EKF use
publish_unfiltered_field(raw_field, tnow, _compass_instance);
_mag_x_accum += _mag_x; _mag_x_accum += _mag_x;
_mag_y_accum += _mag_y; _mag_y_accum += _mag_y;
_mag_z_accum += _mag_z; _mag_z_accum += _mag_z;

2
modules/PX4NuttX

@ -1 +1 @@
Subproject commit d447403a17ff7433ba99d65c5ce60324f5791ce2 Subproject commit 7c5ef883fc3307b44bef9d5f7b51cb144cdf400a