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132 Commits

Author SHA1 Message Date
Andrew Tridgell a068e95a48 AP_Compass: added ExternalAHRS driver 2021-01-05 21:13:12 +11:00
yaapu 5e88a856e9 AP_Compass: support for MSP compass 2020-09-09 06:35:50 +10:00
Siddharth Purohit 5cd6175d94 AP_Compass: fix reordering compass devid by priority at boot 2020-08-25 08:30:04 +10:00
Siddharth Purohit f55ee264a7 AP_Compass: reset compass ids not present after compass cal 
also implement replacement mechanism for UAVCAN compasses
 2020-07-27 19:48:15 +10:00
Michael du Breuil f25d20f549 AP_Compass: Only send a single MAG_CAL_* message per poll 
this fairly allocates bandwidth between the calibrators
 2020-06-16 10:09:14 +10:00
Siddharth Purohit c0eb27cc35 AP_Compass: pull compass calibrator out into a separate thread 2020-06-05 09:38:40 +10:00
Andy Piper 63b5711a4d AP_Compass: use a separate slot for the custom compass rotation 2020-05-24 07:46:17 +10:00
Andy Piper f5320e8816 AP_Compass: make sure SITL rotation gets initialized like all the others 
don't remove a custom rotation that has already been set
 2020-05-21 16:28:27 +10:00
Andrew Tridgell 4a80313fdd AP_Compass: added get_num_enabled() 
used by EKF3
 2020-05-09 12:33:33 +10:00
Andy Piper b7b2d9a6ce AP_Compass: add support for custom compass rotation via COMPASS_CUS_{ROLL,PIT,YAW} 
add reboot required for parameters that need it
disable custom rotation on AP_Periph devices
 2020-05-05 09:25:18 +10:00
Andrew Tridgell 66655212b1 AP_Compass: fixed compass ordering bug with AP_Periph 
when a user swaps compasses on AP_Periph we want to immediately
replace it. The compass ordering code was rejecting the new compass
and calling panic as it was out of slots. This changes the AP_Compass
ordering so that when we only have a single compass we operate in a
very simple manner where we always accept the first compass found
 2020-04-29 18:51:16 +10:00
Paul Riseborough 8e9dc1c393 AP_Compass: Add accessor function for COMPASS_AUTODEC 2020-04-28 11:42:31 +09:00
Peter Barker 0665c379de AP_Compass: correct use of incorrect backend-count macro 2020-03-17 11:25:16 +11:00
Siddharth Purohit 8d227d401a AP_Compass: modify compass driver to support consistent ordering and hotplugging 2020-02-19 13:59:53 +09:00
Andrew Tridgell 09d7e732b7 AP_Compass: added mag_cal_fixed_yaw() 
this is a fast compass calibration that uses a yaw value provided by
the user.
 2019-12-18 17:20:37 +11:00
Andrew Tridgell 421fbef2a0 AP_Compass: added COMPASS_OPTIONS 
this allows user to set that calibration requires GPS lock
 2019-12-03 20:48:23 +11:00
Andrew Tridgell 6fd0ca36aa AP_Compass: added estimation of compass scale factor 
this adds new COMPASS_SCALE, COMPASS_SCALE2 and COMPASS_SCALE3
parameters, which give the sensor scaling factor. It is used to
compensate for an incorrect scaling in a compass.

The 3D compass calibration process will set the correct value
automatically, otherwise users can set the value to a known value for
an existing compass
 2019-12-03 20:48:23 +11:00
Andrew Tridgell 2a48241ebb AP_Compass: fixed naming of QMC5883L driver 
needed for probe using COMPASS macro in hwdef.dat
 2019-09-04 16:27:47 +10:00
Andrew Tridgell f4576ec8f3 AP_Compass: reduce firmware size for AP_Periph 2019-08-27 10:29:56 +10:00
Peter Barker 1adda1ccf0 AP_Compass: move automatic declination setting into AP_Compass itself 2019-08-13 10:02:13 +10:00
Peter Barker df01bed14f AP_Compass: take GCS link in place of channel to calibration routines 2019-08-05 09:23:10 +10:00
Michael du Breuil 9fc954b030 AP_Compass: Reduce scope of BattMonitor include 2019-06-18 10:02:05 +10:00
Andrew Tridgell 532b82b3a3 AP_Compass: use DRIVER_HMC5843 to match driver name 2019-05-30 15:39:57 +10:00
Peter Barker bf23f1df67 AP_Compass: move responsibility for logging into library 2019-04-23 10:06:17 +10:00
Peter Barker 0e8722181f AP_Compass: take responsibility for not running cal if armed 2019-04-23 10:06:17 +10:00
Peter Barker 7ae7c48362 AP_Compass: remove set_and_save_offsets taking integer parameters 
because the only caller that mattered had floats to offer...
 2019-04-05 06:09:25 -07:00
Peter Barker 54e3959a99 AP_Compass: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00
Peter Barker f8be4efed4 AP_Compass: init never fails; return void rather than bool 2019-03-13 13:06:50 +11:00
thomass 8155c8b178 AP_Compass: added backend implementation for RM3100 compass 2019-02-10 08:00:49 +11:00
Lucas De Marchi 34fb98b1e0 AP_Compass: probe for IST8308 on external buses 2018-10-25 20:19:30 -07:00
Andrew Tridgell 5ac6309848 AP_Compass: enable in-flight compass learning system 
using COMPASS_LEARN=3
 2018-10-24 07:25:42 +10:00
Andrew Tridgell 925555c995 AP_Compass: move accum fields to frontend 
this is needed to ensure they are per-instance. Without this the SITL
backend produces zero for all but the first instance. The same would
be true for any multi-instance backend
 2018-10-17 12:54:22 +11:00
Lucas De Marchi de535dc573 AP_Compass: remove unused external and name arguments 
Aka "fix copy and pasta".
 2018-09-06 08:23:02 +10:00
Jonathan Challinger cefd998177 AP_Compass: add expected DEV_ID parameters 2018-08-07 10:00:10 +10:00
Jonathan Challinger 878e84a015 AP_Compass: correct edge case where checks pass when saved dev_id != detected dev_id 2018-08-07 10:00:10 +10:00
Randy Mackay 99b54935db Compass: remove accumulate 
this method is a noop on all backends
 2018-08-06 11:05:34 +10:00
Andrew Tridgell 8b0f40b402 AP_Compass: implement automatic compass orientation 
this automatically determines the compass orientation when doing a 3D
compass calibration, if COMPASS_ROT_AUTO is enabled.
 2018-07-18 16:07:19 +10:00
Andrew Tridgell ff6d639ed7 AP_Compass: separated out external compass probing 
this allows any ChibiOS board to specify that it wants to probe for
all possible external compass types with a define in hwdef.dat

It also implements duplicate compass detection for all i2c drivers,
ensuring we can't get a load of a driver on the same bus/address twice
 2018-07-14 17:51:50 +10:00
Peter Barker 051c811bfb AP_Compass: make compass_cal_requires_reboot const 2018-07-03 13:44:11 +10:00
Peter Barker 4c2925d693 AP_Compass: remove pointless initialisations 
If you are allocating one of these on the stack you're doing something
wrong.
 2018-07-02 10:44:34 +10:00
Peter Barker a3a1967e05 AP_Compass: add AP::compass() singleton getter 2018-05-17 15:37:14 +10:00
Francisco Ferreira 0a3af28d17 AP_Compass: remove Qualcomm board support 2018-05-17 09:57:20 +10:00
Jacob Walser 6699c59ad3 AP_Compass: add support for custom board orientations 2018-04-24 13:04:37 +01:00
night-ghost f26bb0cfbe AP_Compass: added range filter to backend, added its use in some sensors (thanks khancyr for style correction) 2018-04-11 14:46:42 +10:00
Michael du Breuil c66d15efd7 AP_Compass: Read current for compensation from the battery singleton 2018-03-27 22:12:21 +01:00
Andrew Tridgell 487b615faa AP_Compass: allow for override of MAG_BOARD_ORIENTATION 2018-03-02 12:52:50 +11:00
Andrew Tridgell 57a3bc1397 AP_Compass: new compass learning system 
this learns compass offsets using magnetic tables and compass
observations
 2018-02-08 17:36:33 +11:00
Andrew Tridgell ca30f6aec8 AP_Compass: added per-motor compass calibration 
this allows for a motor calibration vector per motor
 2018-02-08 17:36:33 +11:00
night-ghost b6bf90ab93 AP_Compass: mAG3110 driver 2018-02-02 21:07:40 +11:00
Andrew Tridgell f326377a5c AP_Compass: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Andrew Tridgell 5646afac1c AP_Compass: avoid double detection of the AK09916 
with an ICM20948 we can double detect the compass due to the i2c pass-thru
 2017-10-04 11:49:06 +11:00
Lucas De Marchi 320260a151 AP_Compass: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi b1740e2d9c AP_Compass: remove raspilot 2017-09-12 15:06:19 -07:00
Andrew Tridgell 732dc5984a AP_Compass: added COMPASS_TYPEMASK parameter 
this allows driver type to be disabled, to avoid probing them and
wasting CPU on sensors that are not being used

This also moves UAVCAN compass to be detected last, as discussed in the
dev call
 2017-07-19 15:53:22 +10:00
Peter Barker 6b53b5b5f3 AP_Compass: make handle_mag_cal_command return type stricter 2017-07-17 14:17:19 +01:00
Miguel Arroyo ee328c9683 AP_Compass: move SITL Compass to standard sensor backend model 2017-06-29 09:22:08 +10:00
Andrew Tridgell ee2afd3242 AP_Compass: added COMPASS_OFFS_MAX 
this allows setup of airframes with hatch magnets
 2017-04-04 00:49:34 +01:00
Randy Mackay 855125381d AP_Compass: relax compass cal fitness and consistency checks 2017-01-27 11:20:02 +09:00
Randy Mackay 53d1585ebf Compass: relax compass consistency checks for pixracer 2017-01-21 12:10:00 +09:00
Randy Mackay 0c4e3cd8e4 Compass: pixracer calibration fitness default relaxed 2017-01-21 10:15:11 +09:00
Andrew Tridgell 2716ab8408 AP_Compass: added support for per-instance rotations 2016-11-09 17:08:08 +11:00
Andrew Tridgell 147b253e65 AP_Compass: make device IDs match PX4 drivers 
match in-tree drivers to PX4Firmware drivers
 2016-11-09 17:08:06 +11:00
Andrew Tridgell de7913e8e9 AP_Compass: implement device IDs for compass drivers 2016-11-09 17:08:04 +11:00
Michael du Breuil deec4ec6af Compass: Rework compass calibrator 
Summary of significant changes:
  -Autsave doesn't depend on STREAM_EXTRA3
  -Don't risk only saving one compass on copter if CAL_ALWAYS_REBOOT is set
  -Only calibrate compasses that are both health and marked for use (there was a inconsistency in handling the mask)
  -Fix incorrect failure reporting on DO_ACCEPT_MAG_CAL with a mask of 0 if a channel was specifically not started
  -Fix not starting the buzzer if the delay is set to 0 seconds
  -Always send MAG_CAL_REPORT until its acknowledged
  -Correct the field in MAG_CAL_REPORT for autosave to indicate if the compass had actually been saved, rather then being scheduled to be saved
  -Remmove unused public interfaces
 2016-10-27 14:04:33 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
José Roberto de Souza 6e53854122 AP_Compass: Add BMM150 backend 2016-07-06 10:03:30 -03:00
Lucas De Marchi 8372e74c0f AP_Compass: simplify handling of sensors for Linux boards 
In addition:
    - bbbmini, navio and navio2 can force HMC5843 backend to
      be external.
    - there was a typo in the backend name that's now fixed:
      AK8953 vs AK8963
 2016-05-18 18:24:14 -03:00
Staroselskii Georgii b677f975e7 AP_Compass: added LSM9DS1 magnetometer support 2016-05-10 17:24:43 -03:00
Andrew Tridgell 88a1ebaf0e AP_Compass: allow setting of exact timestamp in HIL compass 2016-05-07 18:27:19 +10:00
Andrew Tridgell ed999a283f AP_Compass: added get_learn_type() API 
this allows caller to determine if EKF offsets should be saved
 2016-04-30 16:43:14 +10:00
Lucas De Marchi 20a4a42cb3 AP_Compass: don't store raw and unfiltered fields 
These are not used. The only place where raw fields are used are in the
compass calibrator and we don't need to store them.

Additionally remove duplicated documentation about the meaning of the
functions to avoid them getting out of sync.
 2016-03-23 17:50:38 -03:00
Lucas De Marchi e6059f5197 AP_Compass: rename files to follow other libraries 
AP_Compass.h is the main header to be exported and AP_Compass.cpp its
implementation. There's no need for an additional header.
 2016-03-23 17:50:38 -03:00
Lucas De Marchi 286697b844 AP_Compass: don't rebuild tree when single driver changes 
Let the drivers be internal to the library so we don't need to rebuild
the entire tree when a single driver changes.
 2016-03-23 17:50:38 -03:00
Andrew Tridgell a871c87cad AP_Compass: use state array for compass variables 2015-03-13 18:46:15 +11:00
Staroselskii Georgii 0d1cf347c7 AP_Compass: added AK8963 support 2015-01-07 08:41:12 +11:00
Emile Castelnuovo 1bc199c5bd AP_Compass: new files and definition for VRBRAIN board 2014-04-08 16:19:19 +10:00
Andrew Tridgell 4007b7b1e9 AP_Compass: fixed indent-tabs-mode 2013-05-30 09:52:30 +10:00
Andrew Tridgell 741174f5d5 AP_Compass: first cut at a PX4 compass driver 2013-01-04 16:21:24 +11:00
tridge60@gmail.com c860fd736a Compass: removed the old 5883L driver 
we now use a single driver for both mags

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3083 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 05:09:58 +00:00
rmackay9@yahoo.com ed7e0d1660 AP_Compass - added support for HMC5883L 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2460 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-01 13:16:18 +00:00
james.goppert 45ddbbf982 Updated compass library. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@995 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-02 05:13:12 +00:00
jasonshort cf7eefd94b new Compass Lib 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@347 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-08-29 23:03:49 +00:00