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AP_Compass: fixed the HIL sensors compass

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this sets up good compass values for HIL sensors
This commit is contained in:
Andrew Tridgell 2013-05-02 14:59:33 +10:00
parent 5ba171af9a
commit f72dd560cb
2 changed files with 52 additions and 16 deletions
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59
libraries/AP_Compass/AP_Compass_HIL.cpp
View File

@ -14,6 +14,26 @@
extern const AP_HAL::HAL& hal;
// constructor
AP_Compass_HIL::AP_Compass_HIL() : Compass()
{
product_id = AP_COMPASS_TYPE_HIL;
_setup_earth_field();
}
// setup _Bearth
void AP_Compass_HIL::_setup_earth_field(void)
{
// assume a earth field strength of 400
_Bearth(400, 0, 0);
// rotate _Bearth for inclination and declination. -66 degrees
// is the inclination in Canberra, Australia
Matrix3f R;
R.from_euler(0, ToRad(66), _declination.get());
_Bearth = R * _Bearth;
}
// Public Methods //////////////////////////////////////////////////////////////
bool AP_Compass_HIL::read()
@ -40,25 +60,40 @@ bool AP_Compass_HIL::read()
return true;
}
#define MAG_OFS_X 5.0
#define MAG_OFS_Y 13.0
#define MAG_OFS_Z -18.0
// Update raw magnetometer values from HIL data
//
void AP_Compass_HIL::setHIL(float _mag_x, float _mag_y, float _mag_z)
void AP_Compass_HIL::setHIL(float roll, float pitch, float yaw)
{
_hil_mag.x = _mag_x;
_hil_mag.y = _mag_y;
_hil_mag.z = _mag_z;
Matrix3f R;
// apply default board orientation for this compass type. This is
// a noop on most boards
_hil_mag.rotate(MAG_BOARD_ORIENTATION);
// create a rotation matrix for the given attitude
R.from_euler(roll, pitch, yaw);
// add user selectable orientation
_hil_mag.rotate((enum Rotation)_orientation.get());
if (_last_declination != _declination.get()) {
_setup_earth_field();
_last_declination = _declination.get();
}
// and add in AHRS_ORIENTATION setting
_hil_mag.rotate(_board_orientation);
// convert the earth frame magnetic vector to body frame, and
// apply the offsets
_hil_mag = R.mul_transpose(_Bearth);
_hil_mag -= Vector3f(MAG_OFS_X, MAG_OFS_Y, MAG_OFS_Z);
healthy = true;
// apply default board orientation for this compass type. This is
// a noop on most boards
_hil_mag.rotate(MAG_BOARD_ORIENTATION);
// add user selectable orientation
_hil_mag.rotate((enum Rotation)_orientation.get());
// and add in AHRS_ORIENTATION setting
_hil_mag.rotate(_board_orientation);
healthy = true;
}
void AP_Compass_HIL::accumulate(void)

9
libraries/AP_Compass/AP_Compass_HIL.h
View File

@ -7,14 +7,15 @@
class AP_Compass_HIL : public Compass
{
public:
AP_Compass_HIL() : Compass() {
product_id = AP_COMPASS_TYPE_HIL;
}
AP_Compass_HIL();
bool read(void);
void accumulate(void);
void setHIL(float Mag_X, float Mag_Y, float Mag_Z);
void setHIL(float roll, float pitch, float yaw);
private:
Vector3f _hil_mag;
Vector3f _Bearth;
float _last_declination;
void _setup_earth_field();
};
#endif