mirror of https://github.com/ArduPilot/ardupilot
compass: fixed output rate and averaging for 5883L
we need to setup the right output rate, or the compass gets very laggy git-svn-id: https://arducopter.googlecode.com/svn/trunk@2736 f9c3cf11-9bcb-44bc-f272-b75c42450872
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@ -31,6 +31,22 @@
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#define ContinuousConversion 0x00
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#define ContinuousConversion 0x00
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#define SingleConversion 0x01
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#define SingleConversion 0x01
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// ConfigRegA valid sample averaging for 5883L
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#define SampleAveraging_1 0x00
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#define SampleAveraging_2 0x01
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#define SampleAveraging_4 0x02
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#define SampleAveraging_8 0x03
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// ConfigRegA valid data output rates for 5883L
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#define DataOutputRate_0_75HZ 0x00
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#define DataOutputRate_1_5HZ 0x01
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#define DataOutputRate_3HZ 0x02
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#define DataOutputRate_7_5HZ 0x03
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#define DataOutputRate_15HZ 0x04
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#define DataOutputRate_30HZ 0x05
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#define DataOutputRate_75HZ 0x06
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// Public Methods //////////////////////////////////////////////////////////////
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// Public Methods //////////////////////////////////////////////////////////////
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bool
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bool
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AP_Compass_HMC5843::init()
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AP_Compass_HMC5843::init()
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@ -59,7 +75,11 @@ AP_Compass_HMC5843::init()
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// force positiveBias (compass should return 715 for all channels)
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// force positiveBias (compass should return 715 for all channels)
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.send(ConfigRegA);
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Wire.send(ConfigRegA);
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Wire.send(PositiveBiasConfig);
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if (product_id == AP_COMPASS_TYPE_HMC5843) {
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Wire.send(PositiveBiasConfig);
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} else {
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Wire.send(SampleAveraging_8<<5 | DataOutputRate_75HZ<<2 | PositiveBiasConfig);
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}
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if (0 != Wire.endTransmission())
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if (0 != Wire.endTransmission())
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continue; // compass not responding on the bus
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continue; // compass not responding on the bus
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delay(50);
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delay(50);
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