Andrew Tridgell
025496f65e
AP_Compass: flag compass cal as long expected delay
2019-04-20 13:57:28 +10:00
Andrew Tridgell
32c5e6bced
AP_Compass: fixed handling of duplication rotations
...
we have some rotations that are duplicated, such as ROLL_180_YAW_90
and PITCH_180_YAW_270. This copes with those in the auto-orientation
code
2018-09-19 13:53:37 +10:00
Andrew Tridgell
a73492b40a
AP_Compass: fixed newline in statustext
2018-07-18 16:07:19 +10:00
Andrew Tridgell
196ba0e858
AP_Compass: make COMPASS_ROT_AUTO take 3 values
...
0 for disabled, 1 for check only, 2 for check and fix
2018-07-18 16:07:19 +10:00
Andrew Tridgell
d15a4ad92a
AP_Compass: improved error reporting, check all compasses
...
this uses extensions to the MAG_CAL_REPORT message to convey failures
of orientation checking.
It also checks all compasses, external or internal. It only tries to
fix the orientation if it is external
2018-07-18 16:07:19 +10:00
Andrew Tridgell
a5749c1869
AP_Compass: allow diagonals and off-diagonals to be calculated on rot change
...
this re-runs the fit on change in orientation
2018-07-18 16:07:19 +10:00
Andrew Tridgell
3c2e8baee2
AP_Compass: improved orientation reporting
...
and fail magcal if we fail orientation detection for an external
compass
2018-07-18 16:07:19 +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
20d75f52c2
AP_Compass: use calloc in preferance to malloc
2018-01-17 11:22:05 +11:00
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
Andrew Tridgell
a1bce2b54d
AP_Compass: use get_random16()
2016-12-02 09:49:38 +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
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
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
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
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
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
Tom Pittenger
0aa0380db8
AP_Compass: compiler warnings - float to float compare and bool cast
2015-12-07 15:49:58 +09:00
Caio Marcelo de Oliveira Filho
86954cda0e
AP_CompassCalibrator: use millis/micros/panic functions
2015-11-20 12:30:14 +09:00
Gustavo Jose de Sousa
63b42e0632
AP_Compass: Calibrator: make calculations for theta only once
...
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
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
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
5a12991d29
CompassCalibrator: remove dependence on AP_Notify
2015-09-03 16:59:12 +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
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