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880 Commits

Author SHA1 Message Date
Andrew Tridgell 2fe2c8fbda AP_Compass: initialise compass IDs saved in SITL 
this ensures we don't get uncalibrates compasses in SITL
 2018-07-13 10:19:01 +10:00
Andrew Tridgell 823c4523b3 AP_Compass: added SITL device IDs 2018-07-13 10:19:01 +10:00
Andrew Tridgell f88a4b3a2f AP_Compass: fixed compass orientations on PH4 2018-07-10 18:29:14 +10:00
Andrew Tridgell 8fd69250bd AP_Compass: use I2C bus masks 
this allows for external compasses on all external I2C ports, while
retaining existing device ordering
 2018-07-10 15:39:47 +10:00
Peter Barker 051c811bfb AP_Compass: make compass_cal_requires_reboot const 2018-07-03 13:44:11 +10:00
Peter Barker 4c2925d693 AP_Compass: remove pointless initialisations 
If you are allocating one of these on the stack you're doing something
wrong.
 2018-07-02 10:44:34 +10:00
Lucas De Marchi 49d08ba72a Global: remove minlure 
Minlure is a port of ArduPilot to Minnow Board connected to daughter
board. Very few of those were produced and nobody is flying with it.

It served its purpose and all the the improvements to ArduPilot remain
regardless of it not being supported anymore. Now it's just adding
maintenance work with no clear benefit, so pull the plug.
 2018-06-26 07:32:08 -07:00
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