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AP_Compass: added heater compensation to internal mag for Pix32v5

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This commit is contained in:
Andrew Tridgell 2021-05-31 10:56:07 +10:00
parent 214bc4c282
commit d5dccaa734
1 changed files with 14 additions and 0 deletions
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14
libraries/AP_Compass/AP_Compass_IST8310.cpp
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@ -24,6 +24,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_Math/AP_Math.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#define WAI_REG 0x0
#define DEVICE_ID 0x10
@ -234,6 +235,19 @@ void AP_Compass_IST8310::timer()
/* Resolution: 0.3 µT/LSB - already convert to milligauss */
Vector3f field = Vector3f{x * 3.0f, y * 3.0f, z * 3.0f};
#ifdef HAL_IST8310_I2C_HEATER_OFFSET
/*
the internal IST8310 can be impacted by the magnetic field from
a heater. We use the heater duty cycle to correct for the error
*/
if (!is_external(_instance) && AP_HAL::Device::devid_get_bus_type(_dev->get_bus_id()) == AP_HAL::Device::BUS_TYPE_I2C) {
const auto *bc = AP::boardConfig();
if (bc) {
field += HAL_IST8310_I2C_HEATER_OFFSET * bc->get_heater_duty_cycle() * 0.01;
}
}
#endif
accumulate_sample(field, _instance);
}