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71 Commits

Author SHA1 Message Date
Randy Mackay
d192b3ccea Compass: set device id for ak8963 and hmc5843 2015-07-06 21:04:46 +09:00
Tom Pittenger
16e71ec1ce Compass: fix compile warning re member init order 2015-04-24 14:15:00 +09:00
Tom Pittenger
bf1d128d70 Compass: fix compile warnings re float constants 
Also fix example sketch
 2015-04-24 12:29:07 +09:00
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
7b51c907f5 AP_Compass: zero some more variables in constructor and init 2015-03-13 19:22:11 +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
7f00dd413f AP_Compass: fixed HMC5883's initialisation code 2014-11-14 10:21:04 +11:00
Jonathan Challinger
9054dd3f9a AP_Compass: use apply_correction_function to eliminate duplication 2014-10-19 17:02:45 +11:00
Randy Mackay
86aac4f40c Compass_HMC5843: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Andrew Tridgell
54562b0b9a AP_Compass: prevent bad initial values from affecting HMC5883 calibration 
the first couple of values after we enter strap mode may be low, but
just above our 0.7 threshold. We now discard the first two values to
prevent these affecting the average.

Also added some commented out debug code and a comment on the scaling
of the calibration code
 2014-01-22 17:15:34 +11:00
Andrew Tridgell
61f564d7c9 AP_Compass: support motor compensation for multiple compasses 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-12-09 19:45:31 +11:00
Andrew Tridgell
c538816825 AP_Compass: support compass health status on multiple compasses 2013-12-09 17:46:41 +11:00
Andrew Tridgell
bde89fd4e2 AP_Compass: added compass offsets for 2nd compass 2013-12-09 17:34:07 +11:00
Andrew Tridgell
8a97042fb1 AP_Compass: updates to support multiple compasses 2013-12-09 17:34:07 +11:00
Andrew Tridgell
cb16733918 AP_Compass: switched to a vector based interface 
this is more consistent with other APIs and makes multi-device support
easier
 2013-12-09 17:34:06 +11:00
Randy Mackay
84fdff4cd6 Compass: slightly relax HMC5843 calibration limits 
Some users have reported Z axis values as high as 1.33.  Their compasses
seem otherwise health so extending the limits slightly.
 2013-11-27 15:36:34 +09:00
Andrew Tridgell
1ccd6bb7ef AP_Compass: don't wait more than 1ms for compass sample 
this prevents 5ms delays in compass accumulate
 2013-10-08 11:50:54 +11:00
Andrew Tridgell
83c942a512 AP_Compass: prevent NULL deref on enable mag while running 2013-10-08 11:50:53 +11:00
Andrew Tridgell
da14ad2e2d AP_Compass: neaten up HMC5883 debug 2013-09-28 21:24:02 +10:00
Andrew Tridgell
6fc5b06043 AP_Compass: fixed some old Serial.print calls 2013-09-28 21:24:02 +10:00
Mike McCauley
4c65c42411 AP_Compass: fixed ARM 32 bit compatibility 2013-09-23 18:10:21 +10:00
Andrew Tridgell
fbf79c07f0 AP_Compass: added COMPASS_EXTERNAL option 
this allows configuring of a compass as being externally attached
 2013-08-30 14:02:09 +10:00
Andrew Tridgell
97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell
217f34e155 AP_Compass: added COMPASS_ORIENT parameter, to support external compasses 
this allows the user to configure the compass for any orientation
supported by our rotation library
 2013-05-02 12:48:14 +10:00
Christopher Hrabia
9760cdf2d7 Compass: corrected space 2013-03-18 14:27:49 +09:00
Randy Mackay
b8d492b504 Compass: current based compensation added 2013-03-03 23:02:12 +09:00
Randy Mackay
bfb29ce22b Compass: remove virtual functions to save RAM 2013-03-02 00:07:32 +09:00
Randy Mackay
d8515ff85e Compass: basic compensation for motor interference 2013-03-02 00:03:16 +09:00
James Bielman
4fa7bb1486 Add AVR compatibility header for missing math.h definitions. 
- Define float versions of math functions to the double versions
  on AVR (eg. #define sinf sin).
- These macros appear to be missing in older versions of avr-libs.
- Include AP_Math.h rather than math.h to get these definitions.
 2013-01-16 13:52:17 +11:00
James Bielman
5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell
60a4447a86 AP_Compass: added set_board_orientation() method 2013-01-13 17:32:48 +11:00
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
b70f7f57ba AP_Compass: restore low speed change on register read failure 2012-12-20 14:51:37 +11:00
Pat Hickey
53432a1101 AP_Compass: ported to AP_HAL 2012-12-20 14:51:26 +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
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
4f9c6bbb19 uncrustify libraries/AP_Compass/AP_Compass_HMC5843.cpp 2012-08-21 19:01:20 -07:00
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
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
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
8c58d95187 modify the compass code for AP_Param 2012-02-13 16:22:51 +11:00
Randy Mackay
ed19c25a97 Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h". 
Modified FastSerial's write function to return size_t (number of bytes written).
 2012-01-28 12:25:47 +09:00