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AP_Compass: Remove unused time calls, stash the time in the read loop

This commit is contained in:
Michael du Breuil 2017-09-05 18:58:35 -07:00 committed by Francisco Ferreira
parent a88e663191
commit fb77d0739e
20 changed files with 19 additions and 34 deletions
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3
libraries/AP_Compass/AP_Compass.cpp
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@ -804,8 +804,9 @@ Compass::read(void)
// call read on each of the backend. This call updates field[i]
_backends[i]->read();
}
uint32_t time = AP_HAL::millis();
for (uint8_t i=0; i < COMPASS_MAX_INSTANCES; i++) {
_state[i].healthy = (AP_HAL::millis() - _state[i].last_update_ms < 500);
_state[i].healthy = (time - _state[i].last_update_ms < 500);
}
return healthy();
}

2
libraries/AP_Compass/AP_Compass_AK09916.cpp
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@ -201,7 +201,7 @@ void AP_Compass_AK09916::timer()
rotate_field(field, compass_instance);
/* publish raw_field (uncorrected point sample) for calibration use */
publish_raw_field(field, AP_HAL::micros(), compass_instance);
publish_raw_field(field, compass_instance);
/* correct raw_field for known errors */
correct_field(field, compass_instance);

3
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -219,7 +219,6 @@ void AP_Compass_AK8963::_update()
{
struct sample_regs regs;
Vector3f raw_field;
uint32_t time_us = AP_HAL::micros();
if (!_bus->block_read(AK8963_HXL, (uint8_t *) &regs, sizeof(regs))) {
return;
@ -245,7 +244,7 @@ void AP_Compass_AK8963::_update()
rotate_field(raw_field, _compass_instance);
// publish raw_field (uncorrected point sample) for calibration use
publish_raw_field(raw_field, time_us, _compass_instance);
publish_raw_field(raw_field, _compass_instance);
// correct raw_field for known errors
correct_field(raw_field, _compass_instance);

4
libraries/AP_Compass/AP_Compass_BMM150.cpp
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@ -286,8 +286,6 @@ int16_t AP_Compass_BMM150::_compensate_z(int16_t z, uint32_t rhall)
void AP_Compass_BMM150::_update()
{
const uint32_t time_usec = AP_HAL::micros();
le16_t data[4];
bool ret = _dev->read_registers(DATA_X_LSB_REG, (uint8_t *) &data, sizeof(data));
@ -323,7 +321,7 @@ void AP_Compass_BMM150::_update()
rotate_field(raw_field, _compass_instance);
/* publish raw_field (uncorrected point sample) for calibration use */
publish_raw_field(raw_field, time_usec, _compass_instance);
publish_raw_field(raw_field, _compass_instance);
/* correct raw_field for known errors */
correct_field(raw_field, _compass_instance);

2
libraries/AP_Compass/AP_Compass_Backend.cpp
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@ -26,7 +26,7 @@ void AP_Compass_Backend::rotate_field(Vector3f &mag, uint8_t instance)
}
}
void AP_Compass_Backend::publish_raw_field(const Vector3f &mag, uint32_t time_us, uint8_t instance)
void AP_Compass_Backend::publish_raw_field(const Vector3f &mag, uint8_t instance)
{
Compass::mag_state &state = _compass._state[instance];

2
libraries/AP_Compass/AP_Compass_Backend.h
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@ -81,7 +81,7 @@ protected:
*/
void rotate_field(Vector3f &mag, uint8_t instance);
void publish_raw_field(const Vector3f &mag, uint32_t time_us, uint8_t instance);
void publish_raw_field(const Vector3f &mag, uint8_t instance);
void correct_field(Vector3f &mag, uint8_t i);
void publish_filtered_field(const Vector3f &mag, uint8_t instance);
void set_last_update_usec(uint32_t last_update, uint8_t instance);

2
libraries/AP_Compass/AP_Compass_HIL.cpp
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@ -63,7 +63,7 @@ void AP_Compass_HIL::read()
uint8_t compass_instance = _compass_instance[i];
Vector3f field = _compass._hil.field[compass_instance];
rotate_field(field, compass_instance);
publish_raw_field(field, AP_HAL::micros(), compass_instance);
publish_raw_field(field, compass_instance);
correct_field(field, compass_instance);
uint32_t saved_last_update = _compass.last_update_usec(compass_instance);
publish_filtered_field(field, compass_instance);

4
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -236,8 +236,6 @@ void AP_Compass_HMC5843::_timer()
return;
}
uint32_t tnow = AP_HAL::micros();
// the _mag_N values are in the range -2048 to 2047, so we can
// accumulate up to 15 of them in an int16_t. Let's make it 14
// for ease of calculation. We expect to do reads at 10Hz, and
@ -256,7 +254,7 @@ void AP_Compass_HMC5843::_timer()
rotate_field(raw_field, _compass_instance);
// publish raw_field (uncorrected point sample) for calibration use
publish_raw_field(raw_field, tnow, _compass_instance);
publish_raw_field(raw_field, _compass_instance);
// correct raw_field for known errors
correct_field(raw_field, _compass_instance);

4
libraries/AP_Compass/AP_Compass_IST8310.cpp
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@ -204,8 +204,6 @@ void AP_Compass_IST8310::timer()
return;
}
uint32_t now = AP_HAL::micros();
start_conversion();
/* same period, but start counting from now */
@ -236,7 +234,7 @@ void AP_Compass_IST8310::timer()
rotate_field(field, _instance);
/* publish raw_field (uncorrected point sample) for calibration use */
publish_raw_field(field, now, _instance);
publish_raw_field(field, _instance);
/* correct raw_field for known errors */
correct_field(field, _instance);

2
libraries/AP_Compass/AP_Compass_LIS3MDL.cpp
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@ -164,7 +164,7 @@ void AP_Compass_LIS3MDL::timer()
rotate_field(field, compass_instance);
/* publish raw_field (uncorrected point sample) for calibration use */
publish_raw_field(field, AP_HAL::micros(), compass_instance);
publish_raw_field(field, compass_instance);
/* correct raw_field for known errors */
correct_field(field, compass_instance);

2
libraries/AP_Compass/AP_Compass_LSM303D.cpp
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@ -355,7 +355,7 @@ void AP_Compass_LSM303D::_update()
rotate_field(raw_field, _compass_instance);
// publish raw_field (uncorrected point sample) for calibration use
publish_raw_field(raw_field, AP_HAL::micros(), _compass_instance);
publish_raw_field(raw_field, _compass_instance);
// correct raw_field for known errors
correct_field(raw_field, _compass_instance);

3
libraries/AP_Compass/AP_Compass_LSM9DS1.cpp
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@ -141,7 +141,6 @@ void AP_Compass_LSM9DS1::_update(void)
{
struct sample_regs regs;
Vector3f raw_field;
uint32_t time_us = AP_HAL::micros();
if (!_block_read(LSM9DS1M_STATUS_REG_M, (uint8_t *) &regs, sizeof(regs))) {
return;
@ -163,7 +162,7 @@ void AP_Compass_LSM9DS1::_update(void)
rotate_field(raw_field, _compass_instance);
// publish raw_field (uncorrected point sample) for calibration use
publish_raw_field(raw_field, time_us, _compass_instance);
publish_raw_field(raw_field, _compass_instance);
// correct raw_field for known errors
correct_field(raw_field, _compass_instance);

2
libraries/AP_Compass/AP_Compass_MMC3416.cpp
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@ -298,7 +298,7 @@ void AP_Compass_MMC3416::accumulate_field(Vector3f &field)
rotate_field(field, compass_instance);
/* publish raw_field (uncorrected point sample) for calibration use */
publish_raw_field(field, AP_HAL::micros(), compass_instance);
publish_raw_field(field, compass_instance);
/* correct raw_field for known errors */
correct_field(field, compass_instance);

4
libraries/AP_Compass/AP_Compass_QMC5883L.cpp
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@ -181,8 +181,6 @@ void AP_Compass_QMC5883L::timer()
return ;
}
uint32_t now = AP_HAL::micros();
auto x = -static_cast<int16_t>(le16toh(buffer.rx));
auto y = static_cast<int16_t>(le16toh(buffer.ry));
auto z = -static_cast<int16_t>(le16toh(buffer.rz));
@ -204,7 +202,7 @@ void AP_Compass_QMC5883L::timer()
rotate_field(field, _instance);
/* publish raw_field (uncorrected point sample) for calibration use */
publish_raw_field(field, now, _instance);
publish_raw_field(field, _instance);
/* correct raw_field for known errors */
correct_field(field, _instance);

4
libraries/AP_Compass/AP_Compass_QURT.cpp
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@ -72,8 +72,6 @@ void AP_Compass_QURT::timer_update(void)
return;
}
last_timestamp = data.timestamp;
Vector3f raw_field(data.mag_raw[0],
data.mag_raw[1],
-data.mag_raw[2]);
@ -82,7 +80,7 @@ void AP_Compass_QURT::timer_update(void)
rotate_field(raw_field, instance);
// publish raw_field (uncorrected point sample) for calibration use
publish_raw_field(raw_field, data.timestamp, instance);
publish_raw_field(raw_field, instance);
// correct raw_field for known errors
correct_field(raw_field, instance);

1
libraries/AP_Compass/AP_Compass_QURT.h
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@ -20,7 +20,6 @@ private:
uint8_t instance;
Vector3f sum;
uint32_t count;
uint64_t last_timestamp;
};

2
libraries/AP_Compass/AP_Compass_SITL.cpp
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@ -70,7 +70,7 @@ void AP_Compass_SITL::_timer()
for (uint8_t i=0; i<SITL_NUM_COMPASSES; i++) {
rotate_field(new_mag_data, _compass_instance[i]);
publish_raw_field(new_mag_data, AP_HAL::micros(), _compass_instance[i]);
publish_raw_field(new_mag_data, _compass_instance[i]);
correct_field(new_mag_data, _compass_instance[i]);
}

3
libraries/AP_Compass/AP_Compass_UAVCAN.cpp
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@ -153,9 +153,8 @@ void AP_Compass_UAVCAN::handle_mag_msg(Vector3f &mag)
// rotate raw_field from sensor frame to body frame
rotate_field(raw_field, _instance);
_last_timestamp = AP_HAL::micros64();
// publish raw_field (uncorrected point sample) for calibration use
publish_raw_field(raw_field, (uint32_t) _last_timestamp, _instance);
publish_raw_field(raw_field, _instance);
// correct raw_field for known errors
correct_field(raw_field, _instance);

1
libraries/AP_Compass/AP_Compass_UAVCAN.h
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@ -24,7 +24,6 @@ private:
int _mag_fd;
Vector3f _sum;
uint32_t _count;
uint64_t _last_timestamp;
bool _initialized;
uint8_t _manager;

3
libraries/AP_Compass/AP_Compass_qflight.cpp
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@ -80,7 +80,6 @@ void AP_Compass_QFLIGHT::timer_update(void)
if (ret != 0) {
return;
}
uint64_t time_us = AP_HAL::micros64();
for (uint16_t i=0; i<magbuf->num_samples; i++) {
DSPBuffer::MAG::BUF &b = magbuf->buf[i];
@ -91,7 +90,7 @@ void AP_Compass_QFLIGHT::timer_update(void)
rotate_field(raw_field, instance);
// publish raw_field (uncorrected point sample) for calibration use
publish_raw_field(raw_field, time_us, instance);
publish_raw_field(raw_field, instance);
// correct raw_field for known errors
correct_field(raw_field, instance);