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108 Commits

Author SHA1 Message Date
Andrew Tridgell 8f424cdf21 AP_Compass: ensure we check we got the semaphore 2013-01-09 20:42:20 +11:00
James Bielman eca1417858 AP_HAL: Add semaphores to I2C driver. 
- Guard I2C transactions with this semaphore in the MS5611 and
  HMC5843 drivers.
 2013-01-04 15:43:43 -08:00
Andrew Tridgell 26bc278181 AP_Compass: use queue length 10 in PX4 driver 
and remove unnecessary poll() call
 2013-01-04 20:12:03 +11:00
Andrew Tridgell 741174f5d5 AP_Compass: first cut at a PX4 compass driver 2013-01-04 16:21:24 +11:00
rmackay9 bf77a0f2e4 AP_Compass: added parameter descriptions 2013-01-02 16:08:44 +09:00
Andrew Tridgell 374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
Andrew Tridgell a180437028 AP_Compass: disable auto-declination on 1280 
this saves a few k of flash space
 2012-12-20 14:53:23 +11:00
Andrew Tridgell a1187519a8 AP_HAL: use AP_HAL_BOARD_DRIVER in remaining test sketches 2012-12-20 14:52:37 +11:00
Pat Hickey eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell 7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Andrew Tridgell c181498e36 Compass: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Pat Hickey 475da4eca4 CONFIG_HAL_BOARD - test sketches fixed up, build all passes 2012-12-20 14:51:37 +11:00
Andrew Tridgell b70f7f57ba AP_Compass: restore low speed change on register read failure 2012-12-20 14:51:37 +11:00
Pat Hickey a4f1f6a5db AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR 2012-12-20 14:51:28 +11:00
Pat Hickey 53432a1101 AP_Compass: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
Andrew Tridgell daa4712078 AP_Compass: force I2C speed low in a couple more situations 2012-11-12 11:26:20 +11:00
Andrew Tridgell 8c2dadc12f AP_Compass: print I2C error count in test sketch 2012-11-12 10:28:26 +11:00
Andrew Tridgell 6922dcdea2 Compass: added compass.accumulate() API 
this allows us to accumulate mag readings using spare CPU cycles
 2012-09-08 10:05:54 +10:00
uncrustify 04e48ef878 uncrustify libraries/AP_Compass/Compass.h 2012-08-21 19:19:51 -07:00
uncrustify 6bc9c5707f uncrustify libraries/AP_Compass/AP_Compass_HMC5843.h 2012-08-21 19:01:34 -07:00
uncrustify f534730fab uncrustify libraries/AP_Compass/AP_Compass_HIL.h 2012-08-21 19:01:21 -07:00
uncrustify 4f9c6bbb19 uncrustify libraries/AP_Compass/AP_Compass_HMC5843.cpp 2012-08-21 19:01:20 -07:00
uncrustify 7840eebaef uncrustify libraries/AP_Compass/Compass.cpp 2012-08-21 19:01:20 -07:00
uncrustify d1190e1ed4 uncrustify libraries/AP_Compass/AP_Compass_HIL.cpp 2012-08-21 19:01:20 -07:00
uncrustify 53ef9e8b9e uncrustify libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde 2012-08-21 19:01:20 -07:00
rmackay9 9b3ced93ee AP_Compass: fix for mismatching set_initial_location parameters (forgot to change long to int32_t in .cpp file) 2012-08-18 20:41:38 +09:00
rmackay9 71f12fbc9b AP_Compass: replace "long" with "int32_t" 2012-08-18 16:58:16 +09:00
Andrew Tridgell 518d6365ff AP_Param: update remaining libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
Andrew Tridgell e4d28b12e5 Compass: remove the need to call calculate() on the compass object 
the new AHRS code doesn't use calculate() and the compass.heading
attribute. Instead it works on the raw magnetometer vector. This
change removes the internal calculate state from the compass object
and instead adds calculate_heading() for use by older code that
doesn't go via AHRS.

This significantly reduces the calculation involved in compass updates

The null offsets enable/disable code is also removed, as it is not
needed now that compass offsets are not linked to the AHRS state.
 2012-06-27 16:01:50 +10:00
rmackay9 ef43da9b92 AP_Compass - changed parameter initialisation order to remove compiler warning 2012-04-09 17:37:02 +09:00
Andrew Tridgell 504c53f746 Compass: added COMPASS_AUTODEC option 
when this is 1 (which is the default), we will get the declination
automatically via the AP_Declination library

when it is 0 we will use the value configured by the user
 2012-03-30 14:25:27 +11:00
Andrew Tridgell 16deefce31 Compass: fixed a comment 2012-03-29 12:39:53 +11:00
Andrew Tridgell 17290836ef Compass: added some more comments 
explain the algorithm a bit more
 2012-03-29 12:39:53 +11:00
Andrew Tridgell b2d6db9479 Compass: implement noise resistant varient of offset learning 
This adds a large amount of noise robustness to the compass offset
learning algorithm, at a cost of 120 bytes of memory. The changes are
based on a long discussion with Bill Premerlani.
 2012-03-28 20:55:27 +11:00
Andrew Tridgell a72d4b46b3 Compass: implement Bills new offset nulling algorithm 
this seems to work much better than the old algorithm, converging
faster and more accurately. Even better, it has no linkage to DCM, so
no possibility of nasty feedback effects
 2012-03-27 15:37:24 +11:00
Andrew Tridgell 7daaadf776 Compass: fixed the order of rotations in the compass driver 
this should fix the massive heading issues that people have been
reporting. Please test!
 2012-03-12 17:33:15 +11:00
Adam M Rivera fe8c896d69 AP_Declination: Added method set_initial_location 
This will set the declination based on lat/lon if the user has
not yet saved one to the EEPROM, OR if they have specified via the
config parameter that they want it to overwrite the declination every
3D fix.

Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Andrew Tridgell d10c4b76ad Compass: removed an incorrect comment 2012-03-11 20:07:38 +11:00
Andrew Tridgell 0da64e98f8 Compass: don't save the orientation to EEPROM 
there is no point in saving this, the value is only configurable at
compile time for now, and is always set
 2012-03-11 15:37:07 +11:00
Andrew Tridgell cb96dd975f Compass: update the compass driver to use the new vector.rotate() method 2012-03-11 15:37:07 +11:00
Andrew Tridgell 6eff9107ea Compass: change last_update to be in microseconds 2012-03-10 10:34:32 +11:00
Andrew Tridgell 6d356b6c6e Compass: fixed last_update time for HIL compass 2012-03-10 10:34:30 +11:00
rmackay9 fa34ac076e AP_Compass - fixed compile warning 2012-02-29 22:57:35 +09:00
rmackay9 c819a0f68a AP_Compass - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:45:49 +09:00
Andrew Tridgell d0a6359b37 Compass: use constructor to set initial values for _learn and _use_for_yaw 
this ensures they are set if you have MAG_ENABLE==0
 2012-02-25 17:36:31 +11:00
Andrew Tridgell f59297d7a7 Compass: catch the case of a user enabling a compass mid-flight 
if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
 2012-02-25 14:51:09 +11:00
Andrew Tridgell 664622523d Compass: added COMPASS_LEARN and COMPASS_USE parameters 
these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.

The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
 2012-02-25 14:51:08 +11:00
Andrew Tridgell c354879f1f Compass: ensure we don't produce NAN values for compass heading 
this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 62326c0f72 Compass: enable compass offsets for HIL compass 
this makes the null_offsets algorithm have an effect for the HIL
compass that is used for SITL, which makes for easier testing of
compass calibration
 2012-02-15 22:33:50 +11:00