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109 Commits

Author SHA1 Message Date
Lucas De Marchi 1a4a26de2b AP_Compass: remove check for max compass instances 
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 
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
Gustavo Jose de Sousa 0caaef7394 AP_Compass: mention mag field unit in existing documentation 
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 
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 88a1a928e9 AP_Compass: remove get_{field,offsets}_milligauss() functions 
Those functions are not being used anymore.
 2015-10-15 19:56:09 +09:00
Gustavo Jose de Sousa 4375606eeb AP_Compass: make get_field() and get_offsets() return milligauss 
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 fff5ec09eb AP_Compass: fix consistent check for less than three compasses 
Also use vector functions where available
Use get_field_milligause instead of just get_field
 2015-09-16 15:11:01 +09:00
Jonathan Challinger 87bbf1a487 AP_Compass: add consistent() function 2015-09-16 15:10:27 +09:00
Julien BERAUD 5602e4055b AP_Compass_AK8963: Fix Rotation on the Bebop 2015-09-15 14:45:17 +09:00
Andrew Tridgell fa9ff5b604 AP_Compass: added parameter for compass calibration fitness threshold 2015-09-14 17:01:14 +10:00
raspilot 19b4f5559a AP_Compass: added LSM303D driver 2015-09-14 14:22:15 +10:00
Andrew Tridgell c59bdc12df AP_Compass: fix the milligauss handling 
the previous approach assumed a 1:1 mapping between compass backends
and compass instances, which isn't true on PX4.

It also only setup milligauss offsets on a set_and_save call, which is
not the only way offsets change

this adds a milligauss_ratio per instance, which is considerably
simpler
 2015-09-09 14:53:11 +10:00
Staroselskii Georgii bd7c313bee AP_Compass: fixed Compass::get_raw_field() 
It seems as if it were a copy-paste error. A statis analyzer would
definetely be angry.
 2015-09-09 10:38:17 +10:00
Staroselskii Georgii c207d8c6a8 AP_Compass: add milligauss counterparts to get_field() and get_offsets() 
From now on there's a pair get_field_milligauss() and
get_offsets_milligauss() that can make the transition to the common
units across all compasses easier.
 2015-09-09 10:38:16 +10:00
Andrew Tridgell f4cdf57d8f AP_Compass: added handling of compass calibration mavlink messages 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit 6a603eb594 Compass_cal: implement the concept of auto and mandatory user reboot after cal 2015-09-03 16:59:13 +10:00
Gustavo Jose de Sousa 46774136a6 AP_Compass: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-09-03 16:59:13 +10:00
Jonathan Challinger cc36401b7c AP_Compass: add calibration interface 2015-09-03 16:59:11 +10:00
Jonathan Challinger f20ef69777 Compass: add soft-iron corrections 2015-09-03 16:59:09 +10:00
Jonathan Challinger b990eaed68 AP_Compass: add interface for raw and unfiltered field 2015-09-03 16:59:09 +10:00
Lucas De Marchi d92c2ac9f5 AP_Compass: pass backend instead of pointer to function 
Just like was done for inertial sensor, different detect() functions
might need different arguments and passing a pointer to function here is
cumbersome. For example, it forces to have a method like "detect_i2c2"
rather than allowing hal.i2c2 to be passed as parameter.
 2015-08-28 12:39:08 +10:00
Gustavo Jose de Sousa 58f300e78e AP_Compass: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:42 +10:00
Randy Mackay cedc9a8670 Compass: add last_update_usec per instance 2015-07-17 10:02:41 +09:00
Julien BERAUD 51c3c499e2 AP_Compass: support AK8963 on I2C 2015-07-10 16:46:30 +10:00
Andrew Tridgell 91b4ba3588 AP_Compass: allow for more than one compass in HIL/SITL 2015-05-15 14:25:44 +10:00
Andrew Tridgell 1962706a33 AP_Compass: fixed last_update, using last_update_usec() 
this broke use of compass in the EKF
 2015-03-14 12:31:23 +11:00
Andrew Tridgell 86fc90f54c AP_Compass: removed spurious rotation in PX4 backend 
and cleanup rotation macros
 2015-03-14 08:52:37 +11:00
Andrew Tridgell fec2025469 AP_Compass: added set_hil_mode() 2015-03-13 22:52:55 +11:00
Andrew Tridgell 4bc92b6373 AP_Compass: removed _product_id var 2015-03-13 18:59:52 +11:00
Andrew Tridgell 0efd3bacea AP_Compass: make new backend match old PX4 behaviour 
when a compass is internal only apply board orientation, not user
specified rotation
 2015-03-13 18:46:15 +11:00
Andrew Tridgell a871c87cad AP_Compass: use state array for compass variables 2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches 13f0aa5ecd AP_Compass: Separate common code into backend 
_copy_to_frontend function takes care of abstracting
this code from the driver. For now the function takes
care of the offset and rotation that is common.
 2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches d3b76cd8d3 AP_Compass: split compass into frontend/backend 2015-03-13 18:46:15 +11:00
Staroselskii Georgii b804430276 AP_Compass: changed default orientation for AK8963 on Navio 2015-01-09 06:38:22 +11:00
Staroselskii Georgii 0d1cf347c7 AP_Compass: added AK8963 support 2015-01-07 08:41:12 +11:00
Jonathan Challinger 9054dd3f9a AP_Compass: use apply_correction_function to eliminate duplication 2014-10-19 17:02:45 +11:00
Andrew Tridgell b437977547 AP_Compass: added set_offsets() interface 
this will be used by Replay to prevent the need for saving parameters
 2014-10-15 09:16:31 +11:00
Randy Mackay 023b6afe8b Compass: add ORIENT2 and EXTERNAL2 params 2014-10-01 13:02:03 +10:00
Randy Mackay 798cc36e64 Compass: use_for_yaw for each compass 2014-10-01 13:02:02 +10:00
Randy Mackay 84d792216e Compass: use_for_yaw to use primary compass health 
This allows the internal compass to be used if the external compass
fails.
 2014-10-01 13:02:02 +10:00
Randy Mackay c2c5807ec7 Compass: always default devid to zero 2014-09-23 20:35:18 +09:00
Andrew Tridgell 41e65c2415 AP_Compass: fixed default orientation for PXF 2014-08-19 10:08:17 +10:00
Randy Mackay d291594d7c Compass: get_primary method made public 2014-07-22 22:01:09 +09:00
Randy Mackay 1f579563e6 Compass: set_motor_compensation takes instance as first parameter 
Also get_motor_compensation uses primary compass
 2014-07-22 21:59:04 +09:00
Randy Mackay bbf4805b0e Compass: update pixhawk expected device ids 2014-07-11 11:10:18 +09:00
Randy Mackay a778522cef Compass: add learn_offsets_enabled accessor method 2014-07-10 20:25:11 +09:00
Randy Mackay 108c878b04 Compass: set_offsets modified to also save offsets 2014-07-10 20:25:08 +09:00
Randy Mackay 124bd4b489 Compass: save_offsets accepts compass instance 2014-07-10 20:25:05 +09:00
Randy Mackay b7f33d81ad Compass: add DEV_ID param and configured method 
These allow checking the offsets were created with the current compass
device.
 2014-07-10 20:24:44 +09:00
Andrew Tridgell c138244155 AP_Compass: support 3 mags on PX4 2014-07-04 12:07:47 +10:00