Peter Barker
9eb53e333b
AP_Compass: tidy consistency calculations
...
AP_Compass: normalize vectors in-place to save a few bytes (thanks MdB)
2018-06-26 18:37:55 +10:00
Patrick José Pereira
e456655932
AP_Compass: Use SITL singleton
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2018-06-26 00:02:01 +01:00
Andrew Tridgell
b225868711
AP_Compass: detect conflict between AK09916 and ICM20948
...
this detects if we have both a AK09916 and an ICM20948 on the same i2c
bus. If that is found then the ICM20948 is disabled as it otherwise we
will have two devices on the same i2c address
2018-06-12 09:04:43 +10:00
Eugene Shamaev
df6b7ed5ea
AP_Compass_UAVCAN: update
2018-06-09 22:46:48 -07:00
Eugene Shamaev
9195ba80fc
AP_Compass: helper func
2018-06-09 22:46:48 -07:00
Eugene Shamaev
baa6daf270
AP_Compass: reducing indenting by linearizing the logic
2018-06-09 22:46:48 -07:00
Andrew Tridgell
2d9df83ed5
AP_Compass: probe for ist8310 on bus 2 as well as 0 for fmuv5
2018-06-06 15:01:38 +10:00
Andrew Tridgell
99540a184c
AP_Compass: enable FMUv5 compass
2018-06-06 07:15:41 +10:00
Andrew Tridgell
ccdfc75dd9
AP_Compass: placeholder for FMUv5
2018-06-06 07:15:41 +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
mirkix
85fe07f1f0
AP_Compass: enable probe HMC5843 for PocketPilot
2018-05-12 07:16:50 +10:00
night-ghost
4cffbf52d3
AP_COMPASS: fix MAG3110 driver
2018-05-07 11:45:29 +10:00
night-ghost
a05c79f1d8
Compass: fix HAL_F4light compilation errors
2018-04-30 08:32:58 +10:00
Jacob Walser
44d0f7b2a1
AP_Compass: update ORIENT @Values
2018-04-24 13:04:37 +01:00
Jacob Walser
6699c59ad3
AP_Compass: add support for custom board orientations
2018-04-24 13:04:37 +01:00
kozinalexey
444c0bb54c
AP_Compass: added ChibiOS external compass config
2018-04-14 11:09:34 +10:00
Andrew Tridgell
eccc4f375b
AP_Compass: fixed build warning
2018-04-12 11:50:44 +10:00
night-ghost
677f2bebc3
AP_Compass: added autodetect of all known compasses on external bus
2018-04-11 15:00:36 +10:00
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
Peter Barker
face8151b7
AP_Compass: include required header
2018-04-09 11:34:35 +10:00
Michael du Breuil
c66d15efd7
AP_Compass: Read current for compensation from the battery singleton
2018-03-27 22:12:21 +01:00
Nathan E
dcf127b73d
Compass: clarify compass orientation description
...
Resolves an error directing users to reference the flight controller (instead of the frame) for COMPASS_ORIENT.
Changed wing to side for all vehicles
2018-03-21 09:01:45 +09:00
LinJieqiang
c73e7f0cf3
add IST8310 compass sensors in AP_Compass.cpp
2018-03-09 11:25:35 -08:00
Andrew Tridgell
8b3db7c09f
AP_Compass: allow for HAL_COMPASS_NONE
2018-03-02 12:52:50 +11:00
Andrew Tridgell
487b615faa
AP_Compass: allow for override of MAG_BOARD_ORIENTATION
2018-03-02 12:52:50 +11:00
Peter Barker
46dbb248f9
AP_Compass: correct compiler warnings
...
In file included from ../../libraries/AP_Compass/AP_Compass.h:14:
../../libraries/AP_Compass/Compass_PerMotor.h:57:13: warning: private
field 'channel' is not used [-Wunused-private-field]
uint8_t channel;
AP_Compass: fix compiler warning
../../libraries/AP_Compass/AP_Compass_MAG3110.h:52:11: warning: private
field 'compass_len' is not used [-Wunused-private-field]
float compass_len;
^
2018-03-02 09:26:37 +09:00
Andrew Tridgell
f61591c426
AP_Compass: added SP01 board type
2018-02-14 18:27:00 +11:00
Andrew Tridgell
52815cd952
AP_Compass: fixed compass orientation for mini-pix
2018-02-14 18:27:00 +11:00
ljwang
231aa16835
AP_Compass: support mini-pix
2018-02-14 18:27:00 +11:00
Randy Mackay
3bec25da85
AP_Compass: resolve compiler warnings
2018-02-10 08:54:34 +09:00
Andrew Tridgell
2c8e6bb834
AP_Compass: use generic defines for BMM150
2018-02-08 17:36:33 +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
Andrew Tridgell
2cc0f25ca0
AP_Compass: support PCNC1
2018-02-08 17:36:33 +11:00
Andrew Tridgell
0d8cdd2728
AP_Compass: fixed warning
2018-02-07 20:33:45 +11:00
Andrew Tridgell
23803df038
AP_Compass: allows boards to define orientation of HMC5843
2018-02-07 20:33:45 +11:00
Siddharth Purohit
f0f4239d4a
AP_Compass: skip using posix headers for non posix systems
2018-02-07 20:33:45 +11:00
LukeMike
432f6c2a4a
VRBRAIN / APCompass: added compass sensor init for VR Brain boards
2018-02-05 08:26:49 +11:00
Andrew Tridgell
2067e25523
AP_Compass: make length filter in MAG3110 optional
...
compile time for now, later can may become parameter
2018-02-02 21:07:40 +11:00
night-ghost
b6bf90ab93
AP_Compass: mAG3110 driver
2018-02-02 21:07:40 +11:00
Andrew Tridgell
20d75f52c2
AP_Compass: use calloc in preferance to malloc
2018-01-17 11:22:05 +11:00
Andrew Tridgell
b741c6c29e
AP_Compass: fixed build error on ChibiOS
2018-01-15 11:46:02 +11:00
Andrew Tridgell
8e87c30a33
AP_Compass: fixed MindPX-v2 compass orientations
2018-01-15 11:46:02 +11:00
Andrew Tridgell
36a141f9f1
AP_Compass: support MindPX-v2
2018-01-15 11:46:02 +11:00
Andrew Tridgell
743714de4c
AP_Compass: support ChibiOS FMUv4
2018-01-15 11:46:02 +11:00
Andrew Tridgell
5d9fa7f85b
AP_Compass: support ChibiOS
2018-01-15 11:46:02 +11:00
Randy Mackay
86cbc445bd
AP_Compass: ICM20948 default rotation to Pitch180Yaw90
2018-01-12 08:16:41 +09:00
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
Mark Whitehorn
b0e2f06a7a
AP_Compass: add LIS3MDL probe for Pixracer
2017-12-08 09:49:25 +11:00
HeBin
26de6de848
AP_Compass: add Robsense PhenixPro Devkit Board support
2017-11-22 10:10:21 -08:00
Georgii Staroselskii
710594eee3
AP_Compass: enable compass on Edge
2017-10-20 13:03:08 -07:00
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
2fc6e52431
AP_Compass: use IST8310 and HMC5883 as external mags
2017-09-27 09:25:34 -07:00
Francisco Ferreira
6e286a2e66
AP_Compass: re-enable QMC5883 compass driver by default
...
This reverts commit a657daf635
2017-09-27 12:24:36 +01:00
Lucas De Marchi
69b6d95cb2
global: use static method to construct AP_Board_Config{,_CAN}
2017-09-26 03:01:21 +01:00
Lucas De Marchi
c1a957fbf3
global: use static method to construct Compass
2017-09-26 03:01:21 +01:00
Lucas De Marchi
320260a151
AP_Compass: add static create method
2017-09-26 03:01:21 +01:00
Andrew Tridgell
678bd084b7
AP_Compass: added IST8310 on FMUv3 I2C
2017-09-23 08:07:18 +10:00
Rufus Wong
9491f7da55
AP_Compass: Add break to prevent fallthrough of PIXRACER to PIXHAWK_PRO
2017-09-18 19:57:22 +10:00
Lucas De Marchi
b1740e2d9c
AP_Compass: remove raspilot
2017-09-12 15:06:19 -07:00
Lucas De Marchi
d5f57fdd93
AP_Compass: AK8963: remove fallback to timer thread
...
Now that the bus thread from the AuxiliaryBus is implemented we can
remove the fallback.
2017-09-11 09:52:41 -07:00
davidaroyer
ad18e99bef
AP_Compass: add support for Aerotenna OcPoC-Zynq hardware
2017-09-08 07:30:49 -07:00
Michael du Breuil
fb77d0739e
AP_Compass: Remove unused time calls, stash the time in the read loop
2017-09-07 19:53:14 +01:00
Mark Whitehorn
3642ecd9ef
AP_COMPASS: fix errors in addition of alternate LIS3MDL I2C address
...
testing shows ROTATION_YAW_90 is correct for mRo Neo M8N GPS/compass
2017-08-10 19:46:26 +10:00
Mark Whitehorn
a6e9baa8f6
AP_Compass: probe for LIS3MDL in mRo Neo-M8N GPS module
2017-08-10 19:46:26 +10:00
Francisco Ferreira
6cf8791eb5
AP_Compass: correct comment in LIS3MDL driver
...
Commit 17f2393c1b
decreased timer frequency but didn't change comment to match
2017-08-04 19:56:26 +01:00
Lucas De Marchi
6bab28397a
AP_Compass: remove user of timesliced logic
2017-08-02 08:00:53 -07:00
ljwang
5a7ec7d429
Delete write registers at start,using another way to repair
2017-08-02 16:15:14 +10:00
ljwang
648871a388
Fixed the QMC5883 identification,add check ID
2017-08-02 16:15:14 +10:00
Randy Mackay
a657daf635
Compass: disable QMC5883 compass driver by default
...
This driver causes occasional heading issues so disabling until these are resolved
2017-07-25 09:27:29 +09:00
Kevin Lopez Alvarez
df406c4389
AP_Compass : increase max possible offset
2017-07-24 13:48:20 +10:00
Kevin Lopez Alvarez
17f2393c1b
AP_Compass: Decrease LIS3MDL ODR and timer
2017-07-24 13:48:20 +10:00
Kevin Lopez Alvarez
08b531e6a8
AP_Compass: LIS3MDL correct orientation
2017-07-24 13:48:20 +10:00
Kevin Lopez Alvarez
cf8c1c2665
AP_Compass: Remove comments and use correct board number
2017-07-24 13:47:44 +10:00
Kevin Lopez Alvarez
1467daee2a
AP_Compass: add ppro support
...
disable lis3mdl for now
2017-07-24 13:47:06 +10:00
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
ljwang
603e903ccd
AP_Compass: QMC5883 Add internal i2c bus and fix rotation error
2017-07-12 12:56:59 +10:00
Eugene Shamaev
aa1f6a7587
AP_Compass: united enumeration on startup, multiple CAN drivers, correct dev_id based on network and node ID
2017-07-03 11:44:32 +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
f3d995a716
AP_Compass: improved robustness of BMM150 detection code
...
cope with bus errors on startup
2017-06-21 16:25:37 +10:00
Andrew Tridgell
68460144df
AP_Compass: added retries on init in BMM150
2017-06-21 16:25:37 +10:00
Andrew Tridgell
9b093c4a33
AP_Compass: fixed a numerical issue in BMM150 driver
...
we were getting the following:
ret=-32768 z=5 rhall=6267 z1=23743 z2=712 z3=-1035 z4=0 xyz1=6264 dividend=163840 dividend2=-1073577207 divisor=5253
the signed/unsigned casts for rhall and xyz1 did not produce the
desired result
2017-06-21 16:25:37 +10:00
Andrew Tridgell
0623db98d6
AP_Compass: cope with bus errors in BMM150
...
if we have bus errors the BMM150 can get confused, giving rubbish
output. This uses the checked register code to reset, and a full soft
reset after 250ms of no samples.
2017-06-21 16:25:37 +10:00
Andrew Tridgell
fa3d40af8a
AP_Compass: fixed shift typo
...
this doesn't affect LE MCUs like STM32
2017-06-21 16:25:37 +10:00
Andrew Tridgell
a0e4ec0f3a
AP_Compass: fixed bitmask typo
2017-06-18 18:15:47 +10:00
Touch
5da2e0b3fb
Update code format
2017-06-18 17:25:20 +10:00
ljwang
8fff1ec4d4
add QMC5883L driver for GPS compass module
2017-06-18 17:25:20 +10:00
ljwang
e648f2e61e
add QMC5883L driver for GPS compass module
2017-06-18 17:25:20 +10:00
Andrew Tridgell
bcd305c821
AP_Compass: fixes for merge with master
2017-06-09 14:56:33 +10:00
Andrew Tridgell
04430457d5
AP_Compass: attempts to diagnose the twitches in MMC3416
2017-06-09 14:56:33 +10:00
Andrew Tridgell
36932a2959
AP_Compass: implement full state machine for MMC3416
...
this uses 100Hz readings most of the time, but does slow offset
readings every 50 samples
2017-06-09 14:56:33 +10:00
Andrew Tridgell
167988b5c4
AP_Compass: implement MMC3416 temperature compensation
...
this is much slower, but removes temperature offset
2017-06-09 14:56:33 +10:00
Andrew Tridgell
736fb715ec
AP_Compass: MMC3416 magnetometer driver
2017-06-09 14:56:33 +10:00
Randy Mackay
1ce2a7fcee
AP_Compass: resolve AK09916 driver compiler warning
2017-06-07 20:38:12 +09:00
Andrew Tridgell
d946d5da6f
AP_Compass: enable AK09916 inside a ICM20948
...
the ICM20948 has an AK09916 which can be accessed via I2C bypass
2017-06-07 17:39:45 +10:00
mirkix
d9d3d97e54
AP_Compass: BeagleBone Blue add external compass HMC5843
2017-06-01 17:11:34 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
4c45b1c7ca
AP_Compass: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
murata
46cba2c970
libraries: Delete the setting value for specific editor.
2017-05-11 13:18:41 -07:00
Peter Barker
b39da462ec
AP_Compass: use HAL_SEMAPHORE_BLOCK_FOREVER macro
2017-05-08 10:23:03 +09:00
Andrew Tridgell
45f27ceb9c
AP_Compass: rename macros to avoid conflicts
...
these macros were also defined in NuttX in clock.h
2017-05-06 15:21:14 +10:00
Eugene Shamaev
b3d9126407
AP_Compass: removal of legacy UAVCAN support
2017-04-17 17:27:18 +10:00
Pierre Kancir
d3e27d8720
AP_Compass: example fix travis warning
...
missing function declaration
implicit cast
some style fix
2017-04-13 19:56:16 +01:00
Eugene Shamaev
3e044c7b8a
AP_Compass: support for UAVCAN connected magnetometers
2017-04-10 22:38:12 +01:00
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
Lucas De Marchi
5787b5a5c5
AP_Compass: IST8310: rename macros
...
Having "BIT" in the name gives the impression we are using the macro is
the bit position; however they have the values for those actions, not
the bit position. Rename BIT to VAL to be less confusing.
2017-03-24 12:06:19 +11:00
Lucas De Marchi
4bba643abb
AP_Compass: IST8310: use variable periodic callback
...
This is the equivalent of sleep and wait for the conversion time,
after had triggered a new sample request. However it also has the added
benefits of sharing a thread with other sensors on the same bus.
Now we don't read the status register anymore since we have a guaranteed
wait time.
2017-03-24 12:06:19 +11:00
Lucas De Marchi
ce1a13aa8f
AP_Compass: IST8310: use FSR to reject samples
2017-03-24 12:06:19 +11:00
Lucas De Marchi
d84851d8fa
AP_Compass: IST8310: improve initialization
...
- Make sure device is reset while initializing.
- Give better names to register macros
- Average X, Y and Z by 16: sensor is internally running at 200 sps
(theoretical, ~160 pratical). The wait time is ~6msec averaging
by 16. We do 10msec.
2017-03-24 12:06:19 +11:00
Tom Pittenger
c0691afc1f
AP_Compass: reject outlier data in IST8310 data by detecting >14bit data
2017-03-24 12:06:19 +11:00
Tom Pittenger
8415fde697
AP_Compass: IST8310 chip does not follow right-hand rule format, flip z
2017-03-24 12:06:19 +11:00
Lucas De Marchi
b339050e45
AP_Compass: IST8310: account for errors in measurment requests
...
If we don't recover for errors in the request for new sample, we may get
stuck with no sample anymore. Recover from bad transfers.
2017-03-24 12:06:19 +11:00
Lucas De Marchi
156efd6fec
AP_Compass: use IST8310 for aerofc
2017-03-24 12:06:19 +11:00
Andrew Tridgell
37c9e08316
AP_Compass: support AUAV21 board
2017-03-01 17:24:10 +11:00
Jacob Walser
7121910fa7
AP_Compass: Set default learn parameter to disabled for Sub
2017-02-21 11:26:14 +11:00
murata
bc7b2144e7
AP_Compass: Change from magic number 0 to definition name.
2017-02-18 14:12:36 +00:00
Lucas De Marchi
dd98fc75a9
AP_Compass: BMM150: fix sampling time
...
We configure the sensor with an ODR of 30 Hz. There's no need to keep
calling the update function at 100Hz.
2017-02-11 01:37:49 -08:00
Andrew Tridgell
64a8f00a77
AP_Compass: disable esoteric compass drivers on FMUv2
2017-01-29 16:31:06 +11:00
murata
af47a8e91c
AP_Compass: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
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
58a0a6a2fc
AP_Compass: disable lis3mdl for now
...
pending investigation of possible hw error
2017-01-14 12:40:04 +11:00
Lucas De Marchi
5472bc4de1
Global: change Device::PeriodicCb signature
...
Remove bool return as it's never being used and not supported on PX4.
2017-01-14 10:03:54 +11:00
murata
a2649949df
AP_Compass: Changed if statements to switch statement.
2016-12-19 22:28:34 +00:00
Andrew Tridgell
790d186c6c
AP_Compass: switched to unified Invensese driver for AK8963
2016-12-16 12:31:34 +11:00
Andrew Tridgell
a440ac4c9d
AP_Compass: use a set_and_notify for external and IDs
...
ensure that GCS that connects quickly gets the right value
fixes issue #5364
2016-12-09 14:36:01 -08:00
Lucas De Marchi
899fce53ff
AP_Compass: IST8310: minor fixes and refactors
...
- Inline code that needs to take and release the lock in init()
function, just like other drivers
- Minor changes to coding style and renames to be similar to other
drivers
2016-12-09 10:08:37 -08:00
Georgii Staroselskii
f061572e13
AP_Compass: add IST8310 support
...
One needs to specify I2C address and a bus number in AP_Compass.cpp to use it.
2016-12-09 10:08:37 -08:00
Pierre Kancir
385e5badd8
Ap_Compass: LIS3MDL fix order
2016-12-06 09:31:21 -08:00
Pierre Kancir
c49c851a57
Ap_Compass: AK09916 fix order
2016-12-06 09:31:21 -08:00
Andrew Tridgell
a1bce2b54d
AP_Compass: use get_random16()
2016-12-02 09:49:38 +11:00
Andrew Tridgell
4f1f6ec019
AP_Compass: added retries during init for i2c devices
...
higher in init, lower for run
2016-12-02 09:47:51 +11:00
Georgii Staroselskii
865ff753f3
AP_Compass: use LSM9DS1 as primary for Navio 2
...
This compass has been proved to work better on Navio boards. Users also
don't like high offsets (even though, they don't really mean much in
this context) reported by AK8963 in MPU9250 on Navio 2.
2016-11-30 12:04:53 -08:00
Alexey Bulatov
96db31635d
AP_Compass: set orientation ROLL_180 for LSM9DS1 on Navio2
2016-11-30 12:04:04 -08:00
Alexey Bulatov
163fa07ac0
AP_Compass: make orientation of LSM9DS1 compass configurable
2016-11-30 12:02:07 -08:00
Randy Mackay
5009e83b6d
AP_Compass: fix build warning for HMC5843
2016-11-30 18:00:12 +09:00
Andrew Tridgell
28b3de91cf
AP_Compass: fixed orientation of internal i2c compass for FMUv1
...
thanks to Peter for noticing
2016-11-28 13:02:15 +11:00
Andrew Tridgell
7d57f00ca0
AP_Compass: removed debug line
...
this is now common when using in-tree drivers
2016-11-25 18:23:53 +11:00
Andrew Tridgell
f62972d966
AP_Compass: fixed build on bhat
...
enable both compasses if found
2016-11-25 17:50:24 +11:00
Andrew Tridgell
1f403b02ef
AP_Compass: switch to continuous 155Hz mode for LIS3MDL
2016-11-25 17:50:24 +11:00
Andrew Tridgell
62805f59fa
AP_Compass: added AK09916 driver
...
yet another magnetometer!
2016-11-25 17:50:24 +11:00
Andrew Tridgell
17a117b324
AP_Compass: be a bit less verbose in startup
2016-11-25 17:50:23 +11:00
Andrew Tridgell
0e4b8781b2
AP_Compass: auto-detect LIS3MDL compass
2016-11-25 17:50:23 +11:00
Andrew Tridgell
b6b2919126
AP_Compass: don't panic on too many compasses
...
just use the first ones found. Panicing because you have too many
isn't useful
2016-11-25 17:50:23 +11:00
Andrew Tridgell
40ef68f104
AP_Compass: added a LIS3MDL compass driver
2016-11-25 17:50:23 +11:00
Lucas De Marchi
c6b0a71c47
AP_Compass: Calibrator: use inplace initializer on array
2016-11-18 20:03:30 -02:00
Siddharth Bharat Purohit
b36ee10e7c
AP_Compass: fix wrong memset in compass calibrator
2016-11-18 20:03:30 -02:00
Andrew Tridgell
e4454c5056
AP_Compass: setup for new PX4 board IDs
2016-11-11 08:08:55 +11:00
Andrew Tridgell
0eac781559
AP_Compass: don't run the AK8963 on the external MPU9250
...
this saves us one mag slot for another external mag, and leaves the
primary MPU9250 undisturbed by the mag traffic on the bus
2016-11-10 13:05:22 +11:00
Andrew Tridgell
3d5c57c5dc
AP_Compass: fixed orientation of PH2 in-tree compass drivers
2016-11-10 11:44:52 +11:00
Andrew Tridgell
4ba00720aa
AP_Compass: make init() private
...
not called from frontend
2016-11-10 11:44:52 +11:00
Andrew Tridgell
c68a6451cb
AP_Compass: use in-tree drivers for PH2SLIM
2016-11-10 11:44:52 +11:00
Andrew Tridgell
4602b4d679
AP_Compass: improve init and calibration of hmc5843
2016-11-09 17:08:15 +11:00
Andrew Tridgell
3d48a72f59
AP_C0mpass: switch pixracer to always use in-tree drivers
2016-11-09 17:08:14 +11:00
Andrew Tridgell
b363a65c2e
AP_Compass: enable in-tree drivers for PHMINI
2016-11-09 17:08:13 +11:00
Andrew Tridgell
875fa60452
AP_Compass: fixed external I2C HMC5983 rotation on pixhawk
2016-11-09 17:08:11 +11:00
Andrew Tridgell
bd8867be38
AP_Compass: cope with NULL dev pointer in driver probe functions
2016-11-09 17:08:11 +11:00
Andrew Tridgell
3b53caad87
AP_Compass: keep old hmc5843 ID
...
prevent re-use. thanks to Lucas
2016-11-09 17:08:10 +11:00
Andrew Tridgell
02c2ba1331
AP_Compass: fixed dup semaphore bug
...
thanks to Lucas for spotting this!
2016-11-09 17:08:10 +11:00
Andrew Tridgell
f31a017ace
AP_Compass: changes to HMC5843 driver
...
this makes the HMC5843 use single-shot mode, which makes it more
robust to bus resets. It also adds WHOAMI checking and enables
automatic temperature compensation.
Unfortunately this makes existing calibration values incompatible, so
a re-cal is required. The device ID has been changed to reflect the
driver change.
2016-11-09 17:08:10 +11:00
Andrew Tridgell
05769640d1
AP_Compass: support rotations on AK8963
2016-11-09 17:08:08 +11:00
Andrew Tridgell
2716ab8408
AP_Compass: added support for per-instance rotations
2016-11-09 17:08:08 +11:00
Andrew Tridgell
fac895b0e6
AP_Compass: setup read flag for SPI transfers
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
Andrew Tridgell
ac0ea12b42
AP_Compass: enable HMC5843 on SPI for PH2
2016-11-09 17:08:03 +11:00
Andrew Tridgell
1c631ea037
AP_Compass: cleanup use of backend semaphores
...
fixed drivers that didn't protect accumulation counters
2016-11-09 17:08:01 +11:00
Andrew Tridgell
9afd51350e
AP_Compass: use thread per bus in more drivers
...
and removed use of timer suspend
2016-11-09 17:08:01 +11:00
Andrew Tridgell
974827aa82
AP_Compass: enabled AK8963 on PX4
2016-11-09 17:08:01 +11:00
Andrew Tridgell
2e4151d14e
AP_Compass: enable lsm303d mag on FMUv2
2016-11-09 17:08:00 +11:00
Andrew Tridgell
36190ba545
AP_Compass: use thread per bus for lsm303d mag
2016-11-09 17:08:00 +11:00
Andrew Tridgell
7bd52eb112
AP_Compass: allow for in-tree drivers for PX4
2016-11-09 17:07:58 +11:00
Andrew Tridgell
96adfccae3
AP_Compass: switch hmc5983 driver to use periodic callback on the bus
...
this does not yet work with the mpu6000 auxiliary bus
2016-11-09 17:07:55 +11:00
murata
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
2016-11-02 16:04:47 -02:00
Peter Barker
e4001e67e2
AP_Compass: add missing parameter metadata
2016-10-27 09:15:03 -07:00
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
Peter Barker
216a6493c9
AP_Compass: AP_Compass_LSM9DS1: remove unused variable
2016-10-24 08:57:56 -02:00
Lucas De Marchi
ae53920e5b
build: don't build examples with old build system
...
We currently check examples are buildable with waf which doesn't need
the libraries to be specified in a make.inc file. Having the makefiles
there is misleading since people try to build and realize the build is
broken.
2016-10-11 13:03:08 +11:00
Andy Little
0d113b265c
Examples: fix examples for px4
...
The change to use AP_BoardConfig messed up the examples. Here are some
updated but there are plenty more to do.
2016-10-04 12:50:47 -03:00
Andrew Tridgell
36ea946cf5
AP_Compass: use board defined compass ofs max in calibrator
2016-09-23 10:53:00 +10:00
Jonathan Challinger
17fb7dc88f
AP_Compass: initialize offset before beginning sphere fit
2016-09-23 10:52:51 +10:00
Jonathan Challinger
419f1bc00e
AP_Compass: change fixed point format for more range
2016-09-23 10:52:46 +10:00
Jonathan Challinger
0652d71a72
AP_Compass: correct wrapping behavior in conversion to fixed point
2016-09-23 10:52:44 +10:00
Andrew Tridgell
f82827ce79
AP_Compass: removed disco special compass offsets
...
not needed any more with newer hardware
2016-09-14 19:06:06 +10:00
Randy Mackay
ba5db0c5d8
Compass: add CAL_FIT parameter description values
...
No functional change
2016-09-14 09:57:52 +09:00
José Roberto de Souza
13287f61e3
AP_Compass: Make COMPASS_AERO probe BMM150
2016-09-03 01:03:17 -03:00
Gustavo Jose de Sousa
b259356703
AP_Compass: BMM150: convert it to use Device periodic callback
2016-09-03 01:03:07 -03:00
Lucas De Marchi
667fca60f5
AP_Compass: BMM150: reduce lock region
...
Use a semaphore to update the accumulated values instead of using the
timer semaphore.
2016-09-03 01:03:07 -03:00
Matt
9eca21c26a
AP_Compass: Removed duplicate code
2016-08-29 10:38:41 -03:00
Lucas De Marchi
4595a2b7d8
AP_Compass: Remove i2c lockup count
...
This was returned only for a single bus and on all supported platforms
this is hardcoded to 0.
2016-07-28 18:03:09 -03:00
Lucas De Marchi
c6edae7e8e
Revert "Global: workaround toolchain problem on windows"
...
This reverts commit 4e2b30b413
.
The toolchain for windows is now updated, we can remove this workaround.
2016-07-25 17:56:12 -03:00
Andrew Tridgell
018d8f732a
AP_Compass: work around poor magnetic setup on Disco
...
bring compass offsets into line with what the calibrator can handle
2016-07-20 13:38:17 +10:00
Lucas De Marchi
4e2b30b413
Global: workaround toolchain problem on windows
...
The minimum version for gcc was supposed to be 4.9 for any platform.
However our build instructions are outdated. Remove the problematic
parts that use the sparse-endian.h header while we don't fix the setup
for windows.
2016-07-19 09:30:39 +09:00
Lucas De Marchi
3ba27df405
AP_Compass: BMM150: minor refactors
...
- Correctly sort includes and add missing AP_Math.h
- Use anonymous struct for trim_registers in _load_trim_values,
renaming its members so they don't start with underscore
- Don't change _dig* values when we failed to read from sensor
- Add some blank lines
- Make _dig_* members be inside a _dig struct
- Use constrain_int32 instead of if/else chain
- s/time_us/time_usec/
- Construct raw_field with a single constructor in _update()
- Add missing copyright notice
- Group methods together in declaration
2016-07-06 10:04:05 -03:00
José Roberto de Souza
6e53854122
AP_Compass: Add BMM150 backend
2016-07-06 10:03:30 -03:00
Lucas De Marchi
9ccce2c980
AP_Compass: explicitely add compasses for erlebrain2, pxf and pxfmini
2016-05-18 18:24:14 -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
Lucas De Marchi
1ddbafabdd
AP_Compass: add name field to internal compass drivers
2016-05-18 18:24:14 -03:00
Andrew Tridgell
f7ac6c8d86
AP_Compass: make internal compasses use a higher cal threshold
...
they tend to be a lot noisier
2016-05-18 16:32:32 +10:00
Gustavo Jose de Sousa
0c31354539
AP_Compass: implement completion mask
...
Fill the completion mask and send that through MAVLink while calibrating the
compass.
2016-05-16 19:08:36 -03:00
dgrat
f8540f1a80
AP_Compass: Do not use is_zero() for non-float types
2016-05-16 19:08:35 -03:00
Ricardo de Almeida Gonzaga
2e58653983
AP_Compass: Fix typos
2016-05-13 19:20:05 -03:00
Staroselskii Georgii
a2ae662b3e
AP_Compass: add an extra rotation for internal LSM9DS1 on Navio2
...
In order not to force users to set rotation themselves, we need this
hack to make an extra rotation needed for a second compass.
2016-05-10 17:24:43 -03:00
Staroselskii Georgii
2e5cfc2849
AP_Compass: added external compass autodetection on Navio
2016-05-10 17:24:43 -03:00
Staroselskii Georgii
62f2695e83
AP_Compass: added several compasses' autodetection on Navio 2
2016-05-10 17:24:43 -03:00
Staroselskii Georgii
71736a0ecc
AP_Compass: enable LSM9DS1 magnetometer for boards without default one
2016-05-10 17:24:43 -03:00
Staroselskii Georgii
b677f975e7
AP_Compass: added LSM9DS1 magnetometer support
2016-05-10 17:24:43 -03:00
Lucas De Marchi
68ae619448
AP_Compass: detect compasses for minlure
...
Minlure has an onboard compass (HMC5883L) as slave of MPU-6000, but also
allows the use of an external HMC5883L compass, which should be
connected to the lure's I2C port.
2016-05-10 16:08:39 -03:00
Gustavo Jose de Sousa
91246ad8af
AP_Compass: HMC5843: apply HMC5883L "arrow" rotation only if external
...
That rotation is done because of the "arrow" pointing the sensor direction in
3DR GPS+Compass kit (which isn't natural to the sensor orientation, by the
way). Thus, do that rotation only for external HMC5883L compasses.
2016-05-10 16:05:29 -03:00
Gustavo Jose de Sousa
35cddc7af0
AP_Compass: HMC5843: move hardcoded rotation to before call to rotate_field()
...
That rotation is set for AP_COMPASS_TYPE_HMC5883L, because it's usually
the compass from 3DR GPS+Compass kit, which has an arrow pointing the
"correct" direction. That rotation should be done before rotate_field()
as it represents the "standard" position for the kit.
This patch also makes published values consistent with respect to rotation.
Before this, raw fields used in calibration were published with a
rotation different from the filtered field when _product_id is
AP_COMPASS_TYPE_HMC5883L.
2016-05-10 15:56:38 -03:00
Gustavo Jose de Sousa
ad91a810b3
AP_Compass: Backend: add method is_external()
2016-05-10 15:55:58 -03:00
Gustavo Jose de Sousa
670b0071f9
AP_Compass: HMC5843: add parameter force_external to constructor
...
And to the detection probe() method. That way we don't need to use a board
`#ifdef` inside the class code. Additionally, we make raspilot board use it.
2016-05-10 15:52:54 -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
0e32c047c3
AP_Compass: allow for COMPASS_EXTERNAL=2 for forced external
...
this allows users with unusual compass bus connections to force the
compass to external
2016-05-01 10:54:46 +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
mirkix
3df5a02448
AP_Compass: Add HMC5843 and second AK8963 autodetection to BBBmini
2016-04-24 10:57:57 -03:00
Randy Mackay
4aba25d2ef
AP_Compass_AK8963: remove unused _bus_sem, _last_accum_time
...
Resolves a compiler warning
2016-04-23 23:06:21 -07:00
Lucas De Marchi
46936767c1
AP_Compass: LSM303D: check for overruns in compass values
2016-03-23 17:50:38 -03:00
Lucas De Marchi
cf2d866d51
AP_Compass: LSM303D: used AP_HAL::Device interface
...
Initialization was also changed a little bit so we don't try to
initialize 25 times. We rather use the same methods as in the
AP_InertialSensor drivers.
Also move up the call to is_zero() in read_raw so we don't set
_mag_[x|y|z] in case of failure.
2016-03-23 17:50:38 -03:00
Lucas De Marchi
5164fbb81b
AP_Compass: LSM303D: cleanup driver
...
Make it similar to other compass drivers, including method names.
2016-03-23 17:50:38 -03:00
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
Lucas De Marchi
d3831dbb98
AP_Compass: AK8963: use AP_HAL::I2CDevice abstraction
...
We still need the BusDriver (in some places called SerialBus) interface
since this driver can also be used on an AuxiliaryBus and that has a
different interface.
2016-03-23 17:50:38 -03:00
Lucas De Marchi
41c1209169
AP_Compass: HMC5843: improve readability
...
- Capitalize and rename constants
- Make clear what gain is applied in calibration and what is the
"normal" gain
- Make the separation between HMC5883L and HMC5843 explicit when it
makes sense to improve readability
- Remove spurious delay in calibrate function
2016-03-23 17:50:38 -03:00
Lucas De Marchi
0291ad869b
AP_Compass: HMC5843: use AP_HAL::I2CDevice abstraction
...
We still need the BusDriver (in some places called SerialBus) interface
since this driver can also be used on an AuxiliaryBus and that has a
different interface.
Besides the usual conversion some more improvements:
- Use generic function to convert endianness
- Minor cleanups
- Reorder per-board ifdefs in compass instantiation: distinguish when
there's a default compass to when it should probe other compasses
2016-03-23 17:50:38 -03:00
Lucas De Marchi
abbe419823
AP_Compass: fix mismatched tag
...
In file included from /home/lucas/p/dronecode/ardupilot/libraries/AP_Compass/Compass.h:6:
/home/lucas/p/dronecode/ardupilot/libraries/AP_Compass/CompassCalibrator.h:86:5: warning: struct 'param_t' was previously declared as a class [-Wmismatched-tags]
struct param_t _params;
^
/home/lucas/p/dronecode/ardupilot/libraries/AP_Compass/CompassCalibrator.h:44:11: note: previous use is here
class param_t {
^
/home/lucas/p/dronecode/ardupilot/libraries/AP_Compass/CompassCalibrator.h:86:5: note: did you mean class here?
struct param_t _params;
^~~~~~
2016-03-18 22:39:39 -03:00
Lucas De Marchi
d5d6a10e63
AP_Compass: LSM303D now is part of LSM9DS0
2016-03-18 21:51:37 -03:00
Lucas De Marchi
a671b7f5b2
AP_Compass: remove misleading message
...
Not having data ready during initialization is normal. Don't print error
message since it can mislead people to think the compass was not
initialized successfully.
2016-03-18 21:51:37 -03:00
Lucas De Marchi
d8eb0d401d
AP_Compass: fix missing rename
...
cb8355c
(AP_HAL: fix compass define for bebop) renamed the constant in
AP_HAL but not in AP_Compass.
2016-03-17 11:49:38 -03:00
Lucas De Marchi
b3d26c5988
AP_Compass: remove trailing whitespaces in header
2016-03-17 02:57:05 -03:00
Gustavo Jose de Sousa
e5de4f2348
AP_Compass: AP_Compass_test: code enhancements
...
- Use panic() instead of looping forever.
- Readability improvement with the use of MAX() and MIN().
2016-03-09 10:12:14 -03:00
Gustavo Jose de Sousa
a61f9855d3
AP_Compass: AP_Compass_test: report multiple compasses
...
Report data from all available compasses, not just the primary one.
2016-03-09 10:12:10 -03:00
Gustavo Jose de Sousa
16acca865f
AP_Compass: AP_Compass_test: fix style
...
Used uncrustify and some manual changes.
2016-03-09 10:12:05 -03:00
Gustavo Jose de Sousa
0efbe8c80c
AP_Compass: allow calling calculate_heading() for different instances
2016-03-09 10:12:00 -03:00
Lucas De Marchi
71eefdfd2c
AP_Compass: remove trailing whitespaces
2016-03-07 14:49:35 -03:00
Lucas De Marchi
a46ca4c810
AP_Compass: HMC5883: reorganize header
2016-03-07 14:49:35 -03:00
dgrat
5148e41c1a
AP_Math: Cleaned macro definitions
...
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
2016-02-27 02:51:33 -03:00
Lucas De Marchi
1a71c169fe
AP_Compass: replace header guard with pragma once
2016-02-18 14:52:34 -02:00
Lucas De Marchi
02a7fa5c2b
AP_InertialSensor: MPU9250: use AP_HAL::Device abstraction
...
This makes MPU9250 be almost the same as MPU6000 driver. Work has been
done here to make than similar so it's easier to spot the differences.
2016-02-16 19:49:09 -02:00
Lucas De Marchi
b55294920b
AP_Compass: AK8963: remove logging on fail to get semaphore
...
This is the only driver doing this, using the system_initializing() from
scheduler to log selectively. Remove the check together with removal of
unused wrapper methods to semaphore.
2016-02-08 13:28:32 -02:00
Gustavo Jose de Sousa
c2e3f05dbf
waf: ardupilotwaf: prefix build context methods with ap_
...
It helps to distinguish between things from waf and things from ardupilotwaf.
2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
3d22490397
waf: examples: use methods from bld instead of ardupilotwaf
2016-01-22 20:10:29 -02:00
Víctor Mayoral Vilches
5d28fbfa1b
Compass: Erle-Brain 2 and PXFmini fix
2016-01-18 23:59:25 -02:00
Julien BERAUD
45d668df47
AP_Compass_AK8963: support for timesliced timers
...
fallback in case the current scheduler doesn't support it
2016-01-18 16:57:48 -02:00
Gustavo Jose de Sousa
d281067bcc
waf: make example binaries be placed in 'examples' dir
...
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
2016-01-15 16:46:41 -02:00
Jonathan Challinger
9b5644fdb6
AP_Compass: fix example build
2015-12-29 10:46:35 -08:00
Lucas De Marchi
a096703b06
Global: don't link with AP_Progmem
...
AP_Progmem is not used anymore.
2015-12-27 15:58:12 -02:00
Andrew Tridgell
493ab96b29
AP_Compass: added QURT driver
2015-12-27 16:21:26 +11:00
Andrew Tridgell
3b546bb242
AP_Compass: added qflight driver
2015-12-27 16:12:27 +11:00
Lucas De Marchi
766252cd87
AP_Compass: don't use ternary operator in place of if/else
2015-12-21 15:54:30 +11:00
Aaron Wang Shi
5a085b1610
AP_Compass: add support to BH hat
2015-12-21 15:54:30 +11:00
Tom Pittenger
0aa0380db8
AP_Compass: compiler warnings - float to float compare and bool cast
2015-12-07 15:49:58 +09:00
Lucas De Marchi
0bcbcd07cc
AP_Compass: remove unused AP_ADC_AnalogSource
2015-12-03 13:32:42 +11:00
Caio Marcelo de Oliveira Filho
6e7b73610d
waf: add waf support
2015-12-03 07:54:30 +11:00
Caio Marcelo de Oliveira Filho
cd7cfdef91
AP_Compass: examples use millis/micros/panic functions
2015-11-20 12:30:20 +09:00
Caio Marcelo de Oliveira Filho
86954cda0e
AP_CompassCalibrator: use millis/micros/panic functions
2015-11-20 12:30:14 +09:00
Caio Marcelo de Oliveira Filho
0d3fbbdd37
AP_Compass: use millis/micros/panic functions
2015-11-20 12:30:05 +09:00
Andrew Tridgell
8f4ce7f20b
build: removed all nocore.inoflag files
...
these were APM2 specific
2015-11-16 08:05:17 +11:00
José Roberto de Souza
17e105640e
AP_InertialSensor: Add HAL_COMPASS_AK8963_MPU9250_I2C to _detect_backends()
2015-11-11 14:29:07 +11:00
José Roberto de Souza
bdc36349b4
AP_Compass: AK8963: Add support to use a AK8963 behind of a MPU9250 over I2C
...
To be able to use AK8963 connected to the auxiliary I2C bus of a
MPU9250 we need first initialize it.
2015-11-11 14:29:07 +11:00
José Roberto de Souza
1fc29a2654
AP_Compass: AK8963: Use MPU9250 auxiliary bus
2015-11-11 14:29:06 +11:00
Paul Riseborough
6698d4379d
AP_Compass: Enable usec timestamps to be retrieved for specified instance
2015-11-09 22:07:10 +11:00
Lucas De Marchi
eb75d73952
AP_Compass: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
2015-11-04 12:14:11 +11:00
Lucas De Marchi
5244559010
Minimize AP_Progmem.h includes
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Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.
In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
2015-10-30 14:35:32 +09:00
Lucas De Marchi
20c6ffc5e3
Replace use of UARTDriver::printf_P() with UARTDriver::printf()
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This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +09:00
Lucas De Marchi
6f4904189b
Replace use of println_P() with println()
2015-10-30 14:35:22 +09:00
Lucas De Marchi
831d8acca5
Remove use of PROGMEM
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Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
2015-10-30 14:35:16 +09:00
Lucas De Marchi
2c38e31c93
Remove use of PSTR
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The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
Lucas De Marchi
e6b942ffb0
AP_Compass: use HMC5843 behind MPU6000 for minlure
2015-10-22 12:04:52 +11:00
Gustavo Jose de Sousa
63b42e0632
AP_Compass: Calibrator: make calculations for theta only once
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Additionally, format comment on sample acceptance formulas nicely.
2015-10-22 08:19:35 +11:00
Gustavo Jose de Sousa
f8433f82e6
AP_Compass: simplify calibration transition to COMPASS_CAL_RUNNING_STEP_ONE
2015-10-22 08:19:35 +11:00
Andrew Tridgell
4a8a24a1a2
AP_Compass: don't update last_update_usec for raw fields
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this fixes a problem where the EKF gets compass samples at 50Hz
instead of the expected 10Hz
2015-10-21 13:22:24 +11:00
Lucas De Marchi
1a4a26de2b
AP_Compass: remove check for max compass instances
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For all supported boards the maximum number of instances is 3. The
number of HIL_COMPASSES was already defined as 2 instead of 3, so this
is left as before.
2015-10-21 10:05:18 +11:00
Lucas De Marchi
4004d5bf34
AP_Compass: remove check for HAL_CPU_CLASS
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We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
COMPASS_MAX_INSTANCES and COMPASS_MAX_BACKEND constant for all supported
boards.
2015-10-21 10:05:18 +11:00
Caio Marcelo de Oliveira Filho
a3169d0a34
AP_Compass: remove unnecessary includes from example
2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
ec52df991c
build: compile only the HAL files needed by the board
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Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho
2e464a53c2
AP_HAL: make code not depend on concrete HAL implementations
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The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
2015-10-21 09:16:07 +11:00
Jonathan Challinger
78af6d61de
AP_Compass: only play compass cal cancel tone if a cal was running
2015-10-21 08:24:49 +11:00
Jonathan Challinger
562db11159
AP_Compass: fix potential AP_Notify concurrency problem
2015-10-20 20:54:02 +09:00
José Roberto de Souza
3888579c07
AP_Compass: HMC5843: Use the correctly spelled method
2015-10-16 10:16:24 +11:00
Randy Mackay
6bdeae97b6
Compass: update param descriptions
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offset parameter units are milligauss
User settable parameters should have a User category defined. Those that should never be set by a user should not have this.
2015-10-15 20:52:38 +09:00
Randy Mackay
131536a3a7
Compass: resolve compiler warning
2015-10-15 20:33:25 +09:00
Gustavo Jose de Sousa
0caaef7394
AP_Compass: mention mag field unit in existing documentation
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We are now always using milligauss for mag field unit, so let's update
documentation accordingly.
2015-10-15 19:56:15 +09:00
Gustavo Jose de Sousa
9927cf066f
AP_Compass: remove use of milligauss_ratio
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Now, we have all current compasses publishing their values already in
milligauss, so there's no need for that variable anymore.
2015-10-15 19:56:14 +09:00
Gustavo Jose de Sousa
b603641d7c
AP_Compass: AK8963: fix where to apply sensitivity adjustments
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The function rotate_field() can change the values axes and the function
correct_field() applies offsets (which are already in milligauss). Thus any
sensitivity adjustment must be done for two reasons:
(1) The offsets must be applied to the values already in milligauss;
(2) The factory sensitivity adjustment values are per axis, if any rotation
that switches axes is applied, that'll mess with the adjustment.
Experiments showed that before this patch the length of the mag field reported
quite different from the expected. After this patch, the same experiments
showed reasonable values.
2015-10-15 19:56:13 +09:00
Gustavo Jose de Sousa
6198e81bb3
AP_Compass: AK8963: scale mag field internally
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This is part of the transition to make all mag field values be used in
milligauss.
2015-10-15 19:56:12 +09:00
Gustavo Jose de Sousa
256c9c06c9
AP_Compass: HMC5843: scale mag field internally
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This is part of the transition to make all mag field values be used in
milligauss. Additionally the value of _gain_multiple is adapted to the new way
we're using it and corrected accordingly to the datasheets.
2015-10-15 19:56:11 +09:00
Gustavo Jose de Sousa
814442563e
AP_Compass: HMC5843: fix _calibrate()
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The use of _gain_multiple is not necessary because the values of
expected_{x,yz} and _mag_{x,y,z} are both in sensor raw unit (i.e., lsbs).
That wasn't fixed before in order not to make APM users to recalibrate their
compasses.
2015-10-15 19:56:10 +09:00
Gustavo Jose de Sousa
88a1a928e9
AP_Compass: remove get_{field,offsets}_milligauss() functions
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Those functions are not being used anymore.
2015-10-15 19:56:09 +09:00
Gustavo Jose de Sousa
99a55f9379
AP_Compass: use compass get_{field,offsets}() functions
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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
2015-10-15 19:56:02 +09:00
Gustavo Jose de Sousa
4375606eeb
AP_Compass: make get_field() and get_offsets() return milligauss
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This is part of a transition to make AP_Compass always use a single unit for
magnetic field values, namely milligauss.
2015-10-15 19:55:59 +09:00
Randy Mackay
825abdbedc
Compass: example sketch displays in milligauss
2015-10-07 21:35:24 +09:00
mirkix
ddb8e67954
AP_Compass: Add support for more then one AK8963
2015-10-06 10:38:21 +11:00
José Roberto de Souza
1a2b5ff677
AP_Compass: AK8963: Remove unused AP_HAL::Semaphore attributes
2015-10-01 10:42:51 -03:00
José Roberto de Souza
a9d34ac3bd
AP_Compass: AK8963: Rename some SPI/I2C method parameters
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On read/write operations the argument is the register that will be read or
write not the address, SPI don't even have the concept of device address.
2015-10-01 10:42:40 -03:00
mirkix
eee9522ca5
AP_Compass: Add MPU9250 multiple instance support
2015-09-24 13:11:38 +10:00