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436 Commits

Author SHA1 Message Date
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
b603641d7c AP_Compass: AK8963: fix where to apply sensitivity adjustments 
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 
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 
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() 
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 
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 
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 
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 
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
raspilot
1b5e6849d9 AP_Compass: fix milligauss code in LSM303D driver 2015-09-16 16:52:17 +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
Lucas De Marchi
309e75f9ac AP_Compass: LSM303D: use c++11 initializer to avoid Wreorder 2015-09-14 14:22:15 +10:00
Lucas De Marchi
3a017c8702 AP_Compass: LSM303D: rename members to follow convention 
Make the members have similar names as HMC5843 driver and prepend
underscore on private fields.
 2015-09-14 14:22:15 +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
Andrew Tridgell
3699932417 AP_Compass: fixed SITL compass 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
e93ff44a97 AP_Compass: make a transition to milligauss in Compass library 2015-09-09 10:38:16 +10:00
Staroselskii Georgii
693613aa0f AP_Compass: convert AK8963 measurements to uT 
AK8963 is configured in 16-bit ADC mode which implies sensitivity of 0.15 uT/LSb. Knowing this fact we can convert the measurements to the proper units. The change will make users recalibrate their compasses.
 2015-09-09 10:38:16 +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
6991a1b9e9 AP_Compass: ensure we have payload space to send MAG_CAL messages 2015-09-07 08:58:11 +10:00
Andrew Tridgell
2baa0ac2f2 AP_Compass: disable COMPASS_LEARN when mag calibration used 2015-09-07 08:07:17 +10:00
Andrew Tridgell
079161ef3a AP_Compass: fixed raw_field init in AK8963 driver 
thanks to Peter for spotting this
 2015-09-03 21:27:22 +10:00
Andrew Tridgell
e4b2fc711d AP_Compass: added message for compass cal when armed 2015-09-03 16:59:22 +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
75829f5533 AP_Compass: remove extra compass field correction 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
3abdf85796 AP_Compass_Calibrator: remove unrequired variables 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
c126017035 AP_Compass: reduce to if healthy check from if-else 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
2fb002798c generate.sh 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
63973bff31 AP_Compass_AK8963: move variable declarations before goto 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
Siddharth Bharat Purohit
cdd8bae6ac AP_Compass: publish raw and unfiltered field for HMC5843 compass 2015-09-03 16:59:13 +10:00
Siddharth Bharat Purohit
8cdc9748b3 AP_Compass: publish raw and unfiltered field for AK8963 compass 2015-09-03 16:59:13 +10:00
Siddharth Bharat Purohit
f085e274c7 AP_Compass: add explaination for sample acceptance based on angular distance 2015-09-03 16:59:13 +10:00
Jonathan Challinger
f108383c11 AP_Compass: initialize CompassCalibrator _sample_buffer to NULL 2015-09-03 16:59:13 +10:00
Jonathan Challinger
358736a592 AP_Compass: correct calibrator sample acceptance math 2015-09-03 16:59:13 +10:00
Jonathan Challinger
bff9b9065e AP_Compass: CompassCalibrator comment update 2015-09-03 16:59:13 +10:00
Siddharth Bharat Purohit
137bd25220 AP_Compass: add info about compass calibrator procedure 2015-09-03 16:59:12 +10:00
Siddharth Bharat Purohit
f5fbc2fac1 AP_Compass: use AP_Math inverse library 2015-09-03 16:59:12 +10:00
Jonathan Challinger
0edf1df28e AP_Compass: loosen calibration acceptance tolerance 2015-09-03 16:59:12 +10:00
Jonathan Challinger
987f55387e AP_Compass: style cleanup 2015-09-03 16:59:12 +10:00
Jonathan Challinger
5ef713f3db AP_Compass: set AP_Notify::compass_cal_failed 2015-09-03 16:59:12 +10:00
Jonathan Challinger
5a12991d29 CompassCalibrator: remove dependence on AP_Notify 2015-09-03 16:59:12 +10:00
Jonathan Challinger
de600ca3da AP_Compass: configured() only checks compasses with _USE set 2015-09-03 16:59:12 +10:00
Jonathan Challinger
72c8d0f530 AP_Compass: add samples to calibrator when published 2015-09-03 16:59:11 +10:00
Jonathan Challinger
cc36401b7c AP_Compass: add calibration interface 2015-09-03 16:59:11 +10:00
Jonathan Challinger
05d3616e0d AP_Compass: fix sitl build 2015-09-03 16:59:11 +10:00
Jonathan Challinger
7cb9fa8898 AP_Compass: Correct parameter checks in compass cal 2015-09-03 16:59:11 +10:00
Jonathan Challinger
6d45660568 AP_Compass: refactor run_fit_chunk logic 2015-09-03 16:59:11 +10:00
Jonathan Challinger
f2acf2cb88 AP_Compass: more parameter checks in compass calibrator 2015-09-03 16:59:11 +10:00
Jonathan Challinger
929ddb5685 AP_Compass: fix a math error in the compass calibrator 2015-09-03 16:59:10 +10:00
Jonathan Challinger
328cf82c3d CompassCalibrator: update AP_Notify on failure 2015-09-03 16:59:10 +10:00
Jonathan Challinger
bfdbb55528 AP_Compass: make compasscalibrator running() public 2015-09-03 16:59:10 +10:00
Jonathan Challinger
d31d385490 AP_Compass: changes and fixes to LMA-based compass calibrate 2015-09-03 16:59:10 +10:00
bugobliterator
c66bfc95e1 Compass: Add Levenberg-Marquadt for ellipsoid fit 2015-09-03 16:59:10 +10:00
bugobliterator
7711dde2ad Compass: implement 9 parameter ellipsoid fit 2015-09-03 16:59:10 +10:00
bugobliterator
35555c7b21 Compass: Add math for 9 parameter fitting 2015-09-03 16:59:10 +10:00
bugobliterator
7295537e8a Compass: decrease sphere coverage to 1/3rd 
for faster sample collection
 2015-09-03 16:59:10 +10:00
bugobliterator
a2bd4e8997 Compass: Add less complex equations to calculate jacobians 2015-09-03 16:59:10 +10:00
bugobliterator
2ca0e80dc5 Compass: Add conditions to check sanity of results 2015-09-03 16:59:10 +10:00
bugobliterator
54bc28c96d Compass: Add Levenberg-Marquadt optimiser for sphere_fit 
increase iterations to get good results from LM
better check for convergence, comparison with initial fitness is a better way to determine if convergence occurs, if fitness has not improved compared to initial fitness it means optimiser has failed.
 2015-09-03 16:59:10 +10:00
Jonathan Challinger
c0a662c819 AP_Compass: CompassCalibrator initial commit 2015-09-03 16:59:10 +10:00
Jonathan Challinger
f20ef69777 Compass: add soft-iron corrections 2015-09-03 16:59:09 +10:00
Jonathan Challinger
5fe6db0dc9 AP_Compass_PX4: use new compass backend interface 2015-09-03 16:59:09 +10:00
Jonathan Challinger
ade39abc7f AP_Compass_HMC5843: use new compass backend interface 2015-09-03 16:59:09 +10:00
Jonathan Challinger
8800d03fce AP_Compass_HIL: use new compass backend interface 2015-09-03 16:59:09 +10:00
Jonathan Challinger
cd5cf45ba8 AP_Compass_AK8963: use new compass backend interface 2015-09-03 16:59:09 +10:00
Jonathan Challinger
add1b8c257 AP_Compass: modify backend interface to push raw samples to frontend 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
a66a201bf5 AP_Compass: HMC5843: Add support for MPU6000 auxiliary bus 
Allow HMC5843 to be on MPU6000's auxiliary bus.
 2015-08-28 12:39:09 +10:00
Lucas De Marchi
628e446e3e AP_Compass: HMC5843: use a struct for raw value 
Like is done in AK8963, declare a raw_value struct.
 2015-08-28 12:39:09 +10:00
Lucas De Marchi
9ecd1daf81 AP_Compass: HMC5843: remove useless delay 
There's no need to add a delay after suspending timer in the
initialization. Also initialize _bus_sem earlier, like is done in
AK8963.
 2015-08-28 12:39:09 +10:00
Lucas De Marchi
c66c9c41f2 AP_Compass: HMC5843: be agnostic to I2C bus 
Like was done to inertial AK8963 and inertial sensor move the decision
regarding the I2C bus to the caller. We don't allow changing the address
because apparently HMC5843 doesn't support different addresses.

Changing only the bus could be more easily done but this prepares the
ground for using HMC5843 on an AuxiliarBus.

The need for a more generic abstraction is evidenced by this commit: a
"SerialBus" in AP_HAL would be a nice addition rather than letting each
driver to provide its own. However the methods are a little bit
different from what we have in AK8963. It's safer to do the simple
conversion now and later on to add the abstraction changing everybody to
use it.
 2015-08-28 12:39:09 +10:00
Staroselskii Georgii
3eb6be64c9 AP_Compass: ignore first two readings in a clearer way 
This way we don't mix two different conditionals: settling and data validation.
 2015-08-28 12:39:09 +10:00
Staroselskii Georgii
633330db14 AP_Compass: rename calibration array in HMC 
I think naming the variable "scaling" makes more sense.
 2015-08-28 12:39:09 +10:00
Staroselskii Georgii
d8bddcbf3a AP_Compass: fix indentation in HMC's driver 2015-08-28 12:39:09 +10:00
Staroselskii Georgii
79ffddc6db AP_Compass: add a macro for checking calibration values in HMC 2015-08-28 12:39:08 +10:00
Lucas De Marchi
f61386ae43 AP_Compass: HMC5843: release the lock before read 
read() calls accumulate() which takes the lock by itself so we must
release it like we were doing before 669ae26 ("AP_Compass: encapsulated
calibration in HMC").
 2015-08-28 12:39:08 +10:00
Staroselskii Georgii
a9e8c1c464 AP_Compass: encapsulated calibration in HMC 2015-08-28 12:39:08 +10:00
Staroselskii Georgii
0fbc295d97 AP_Compass: encapsulated version detection in HMC driver 2015-08-28 12:39:08 +10:00
Lucas De Marchi
868d0bf3c3 AP_Compass: AK8963: refactor constructors 
Declare a common constructor that others can call.
 2015-08-28 12:39:08 +10:00
Lucas De Marchi
a5df93bf10 AP_Compass: AK8963: be agnostic to I2C bus/address 
This decision is better made by the caller rather than polluting the
driver with board-specific details.
 2015-08-28 12:39:08 +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
Lucas De Marchi
7e997564bf AP_Compass: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:51 +10:00
Andrew Tridgell
69a86a78a6 AP_Compass: removed AVR1280 specific ifdef 2015-08-11 16:47:41 +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
66469d7529 Compass_HMC5843: remove unnecessary i2c semaphore give 2015-08-07 15:50:36 +09:00
Julien BERAUD
39b42a4e6e AP_Compass_AK8963: suspend timer while reading 
Protection in case a timer falls while reading data, because it could end up
with corrupted data
 2015-08-03 22:50:08 +09:00
Julien BERAUD
0aa2fe7a0b AP_Compass_AK8963: fix sem handling 
In case of error or zeroed data, the i2c semaphore wasn't given.
It happened at first startup on Bebop and caused a failure:
"PANIC: failed to take _bus->sem 100 times in a row..."
 2015-08-03 20:57:46 +09:00
Lucas De Marchi
8240e5ae65 AP_Compass: AK8963: reduce bytes read 
We are not using INFO and ST1 registers, so there's no need to read
extra 2 bytes for each transaction.
 2015-07-23 17:44:36 +10:00
Lucas De Marchi
2b9c46e1ff AP_Compass: AK8963: don't oversample AK8963 
Reduce the frequency with which MPU9250 reads AK8963 to reduce the
chance of errors.
 2015-07-23 17:44:36 +10:00
Lucas De Marchi
6c2ceea165 AP_Compass: AK8963: remove author and connection comment 
Authorship and how sensor is connected get outdated (as it already is).
Our code is on git so let it track who wrote each line.
 2015-07-23 17:44:36 +10:00