36190ba545
AP_Compass: use thread per bus for lsm303d mag
2016-11-09 17:08:00 +11:00
7bd52eb112
AP_Compass: allow for in-tree drivers for PX4
2016-11-09 17:07:58 +11:00
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
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
e4001e67e2
AP_Compass: add missing parameter metadata
2016-10-27 09:15:03 -07:00
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
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
216a6493c9
AP_Compass: AP_Compass_LSM9DS1: remove unused variable
2016-10-24 08:57:56 -02:00
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
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
36ea946cf5
AP_Compass: use board defined compass ofs max in calibrator
2016-09-23 10:53:00 +10:00
17fb7dc88f
AP_Compass: initialize offset before beginning sphere fit
2016-09-23 10:52:51 +10:00
419f1bc00e
AP_Compass: change fixed point format for more range
2016-09-23 10:52:46 +10:00
0652d71a72
AP_Compass: correct wrapping behavior in conversion to fixed point
2016-09-23 10:52:44 +10:00
f82827ce79
AP_Compass: removed disco special compass offsets
...
not needed any more with newer hardware
2016-09-14 19:06:06 +10:00
ba5db0c5d8
Compass: add CAL_FIT parameter description values
...
No functional change
2016-09-14 09:57:52 +09:00
13287f61e3
AP_Compass: Make COMPASS_AERO probe BMM150
2016-09-03 01:03:17 -03:00
b259356703
AP_Compass: BMM150: convert it to use Device periodic callback
2016-09-03 01:03:07 -03:00
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
9eca21c26a
AP_Compass: Removed duplicate code
2016-08-29 10:38:41 -03:00
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
c6edae7e8e
Revert "Global: workaround toolchain problem on windows"
...
This reverts commit 4e2b30b413
2016-07-25 17:56:12 -03:00
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
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
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
6e53854122
AP_Compass: Add BMM150 backend
2016-07-06 10:03:30 -03:00
9ccce2c980
AP_Compass: explicitely add compasses for erlebrain2, pxf and pxfmini
2016-05-18 18:24:14 -03:00
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
1ddbafabdd
AP_Compass: add name field to internal compass drivers
2016-05-18 18:24:14 -03:00
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
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
f8540f1a80
AP_Compass: Do not use is_zero() for non-float types
2016-05-16 19:08:35 -03:00
2e58653983
AP_Compass: Fix typos
2016-05-13 19:20:05 -03:00
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
2e5cfc2849
AP_Compass: added external compass autodetection on Navio
2016-05-10 17:24:43 -03:00
62f2695e83
AP_Compass: added several compasses' autodetection on Navio 2
2016-05-10 17:24:43 -03:00
71736a0ecc
AP_Compass: enable LSM9DS1 magnetometer for boards without default one
2016-05-10 17:24:43 -03:00
b677f975e7
AP_Compass: added LSM9DS1 magnetometer support
2016-05-10 17:24:43 -03:00
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
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
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
ad91a810b3
AP_Compass: Backend: add method is_external()
2016-05-10 15:55:58 -03:00
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
88a1ebaf0e
AP_Compass: allow setting of exact timestamp in HIL compass
2016-05-07 18:27:19 +10:00
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
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
3df5a02448
AP_Compass: Add HMC5843 and second AK8963 autodetection to BBBmini
2016-04-24 10:57:57 -03:00
4aba25d2ef
AP_Compass_AK8963: remove unused _bus_sem, _last_accum_time
...
Resolves a compiler warning
2016-04-23 23:06:21 -07:00
46936767c1
AP_Compass: LSM303D: check for overruns in compass values
2016-03-23 17:50:38 -03:00
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
5164fbb81b
AP_Compass: LSM303D: cleanup driver
...
Make it similar to other compass drivers, including method names.
2016-03-23 17:50:38 -03:00
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
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
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
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
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
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
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
d5d6a10e63
AP_Compass: LSM303D now is part of LSM9DS0
2016-03-18 21:51:37 -03:00
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
d8eb0d401d
AP_Compass: fix missing rename
...
cb8355c
2016-03-17 11:49:38 -03:00
b3d26c5988
AP_Compass: remove trailing whitespaces in header
2016-03-17 02:57:05 -03:00
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
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
16acca865f
AP_Compass: AP_Compass_test: fix style
...
Used uncrustify and some manual changes.
2016-03-09 10:12:05 -03:00
0efbe8c80c
AP_Compass: allow calling calculate_heading() for different instances
2016-03-09 10:12:00 -03:00
71eefdfd2c
AP_Compass: remove trailing whitespaces
2016-03-07 14:49:35 -03:00
a46ca4c810
AP_Compass: HMC5883: reorganize header
2016-03-07 14:49:35 -03:00
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
1a71c169fe
AP_Compass: replace header guard with pragma once
2016-02-18 14:52:34 -02:00
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
b55294920b
AP_Compass: AK8963: remove logging on fail to get semaphore
...
This is the only driver doing this, using the system_initializing() from
scheduler to log selectively. Remove the check together with removal of
unused wrapper methods to semaphore.
2016-02-08 13:28:32 -02:00
c2e3f05dbf
waf: ardupilotwaf: prefix build context methods with ap_
...
It helps to distinguish between things from waf and things from ardupilotwaf.
2016-01-22 20:10:29 -02:00
3d22490397
waf: examples: use methods from bld instead of ardupilotwaf
2016-01-22 20:10:29 -02:00
5d28fbfa1b
Compass: Erle-Brain 2 and PXFmini fix
2016-01-18 23:59:25 -02:00
45d668df47
AP_Compass_AK8963: support for timesliced timers
...
fallback in case the current scheduler doesn't support it
2016-01-18 16:57:48 -02:00
d281067bcc
waf: make example binaries be placed in 'examples' dir
...
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
2016-01-15 16:46:41 -02:00
9b5644fdb6
AP_Compass: fix example build
2015-12-29 10:46:35 -08:00
a096703b06
Global: don't link with AP_Progmem
...
AP_Progmem is not used anymore.
2015-12-27 15:58:12 -02:00
493ab96b29
AP_Compass: added QURT driver
2015-12-27 16:21:26 +11:00
3b546bb242
AP_Compass: added qflight driver
2015-12-27 16:12:27 +11:00
766252cd87
AP_Compass: don't use ternary operator in place of if/else
2015-12-21 15:54:30 +11:00
5a085b1610
AP_Compass: add support to BH hat
2015-12-21 15:54:30 +11:00
0aa0380db8
AP_Compass: compiler warnings - float to float compare and bool cast
2015-12-07 15:49:58 +09:00
0bcbcd07cc
AP_Compass: remove unused AP_ADC_AnalogSource
2015-12-03 13:32:42 +11:00
6e7b73610d
waf: add waf support
2015-12-03 07:54:30 +11:00
cd7cfdef91
AP_Compass: examples use millis/micros/panic functions
2015-11-20 12:30:20 +09:00
86954cda0e
AP_CompassCalibrator: use millis/micros/panic functions
2015-11-20 12:30:14 +09:00
0d3fbbdd37
AP_Compass: use millis/micros/panic functions
2015-11-20 12:30:05 +09:00
8f4ce7f20b
build: removed all nocore.inoflag files
...
these were APM2 specific
2015-11-16 08:05:17 +11:00
17e105640e
AP_InertialSensor: Add HAL_COMPASS_AK8963_MPU9250_I2C to _detect_backends()
2015-11-11 14:29:07 +11:00
bdc36349b4
AP_Compass: AK8963: Add support to use a AK8963 behind of a MPU9250 over I2C
...
To be able to use AK8963 connected to the auxiliary I2C bus of a
MPU9250 we need first initialize it.
2015-11-11 14:29:07 +11:00
1fc29a2654
AP_Compass: AK8963: Use MPU9250 auxiliary bus
2015-11-11 14:29:06 +11:00
6698d4379d
AP_Compass: Enable usec timestamps to be retrieved for specified instance
2015-11-09 22:07:10 +11:00
eb75d73952
AP_Compass: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
2015-11-04 12:14:11 +11:00
5244559010
Minimize AP_Progmem.h includes
...
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.
In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
2015-10-30 14:35:32 +09:00
20c6ffc5e3
Replace use of UARTDriver::printf_P() with UARTDriver::printf()
...
This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +09:00
6f4904189b
Replace use of println_P() with println()
2015-10-30 14:35:22 +09:00
831d8acca5
Remove use of PROGMEM
...
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
2015-10-30 14:35:16 +09:00
2c38e31c93
Remove use of PSTR
...
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
e6b942ffb0
AP_Compass: use HMC5843 behind MPU6000 for minlure
2015-10-22 12:04:52 +11:00
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
f8433f82e6
AP_Compass: simplify calibration transition to COMPASS_CAL_RUNNING_STEP_ONE
2015-10-22 08:19:35 +11:00
4a8a24a1a2
AP_Compass: don't update last_update_usec for raw fields
...
this fixes a problem where the EKF gets compass samples at 50Hz
instead of the expected 10Hz
2015-10-21 13:22:24 +11:00
1a4a26de2b
AP_Compass: remove check for max compass instances
...
For all supported boards the maximum number of instances is 3. The
number of HIL_COMPASSES was already defined as 2 instead of 3, so this
is left as before.
2015-10-21 10:05:18 +11:00
4004d5bf34
AP_Compass: remove check for HAL_CPU_CLASS
...
We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
COMPASS_MAX_INSTANCES and COMPASS_MAX_BACKEND constant for all supported
boards.
2015-10-21 10:05:18 +11:00
a3169d0a34
AP_Compass: remove unnecessary includes from example
2015-10-21 09:16:11 +11:00
ec52df991c
build: compile only the HAL files needed by the board
...
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
2015-10-21 09:16:07 +11:00
2e464a53c2
AP_HAL: make code not depend on concrete HAL implementations
...
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
2015-10-21 09:16:07 +11:00
78af6d61de
AP_Compass: only play compass cal cancel tone if a cal was running
2015-10-21 08:24:49 +11:00
562db11159
AP_Compass: fix potential AP_Notify concurrency problem
2015-10-20 20:54:02 +09:00
3888579c07
AP_Compass: HMC5843: Use the correctly spelled method
2015-10-16 10:16:24 +11:00
6bdeae97b6
Compass: update param descriptions
...
offset parameter units are milligauss
User settable parameters should have a User category defined. Those that should never be set by a user should not have this.
2015-10-15 20:52:38 +09:00
131536a3a7
Compass: resolve compiler warning
2015-10-15 20:33:25 +09:00
0caaef7394
AP_Compass: mention mag field unit in existing documentation
...
We are now always using milligauss for mag field unit, so let's update
documentation accordingly.
2015-10-15 19:56:15 +09:00
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
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
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
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
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
88a1a928e9
AP_Compass: remove get_{field,offsets}_milligauss() functions
...
Those functions are not being used anymore.
2015-10-15 19:56:09 +09:00
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
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
825abdbedc
Compass: example sketch displays in milligauss
2015-10-07 21:35:24 +09:00
ddb8e67954
AP_Compass: Add support for more then one AK8963
2015-10-06 10:38:21 +11:00
1a2b5ff677
AP_Compass: AK8963: Remove unused AP_HAL::Semaphore attributes
2015-10-01 10:42:51 -03:00
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
eee9522ca5
AP_Compass: Add MPU9250 multiple instance support
2015-09-24 13:11:38 +10:00
1b5e6849d9
AP_Compass: fix milligauss code in LSM303D driver
2015-09-16 16:52:17 +09:00
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
87bbf1a487
AP_Compass: add consistent() function
2015-09-16 15:10:27 +09:00
5602e4055b
AP_Compass_AK8963: Fix Rotation on the Bebop
2015-09-15 14:45:17 +09:00
fa9ff5b604
AP_Compass: added parameter for compass calibration fitness threshold
2015-09-14 17:01:14 +10:00
309e75f9ac
AP_Compass: LSM303D: use c++11 initializer to avoid Wreorder
2015-09-14 14:22:15 +10:00
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
19b4f5559a
AP_Compass: added LSM303D driver
2015-09-14 14:22:15 +10:00
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
3699932417
AP_Compass: fixed SITL compass
2015-09-09 14:53:11 +10:00
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
e93ff44a97
AP_Compass: make a transition to milligauss in Compass library
2015-09-09 10:38:16 +10:00
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
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
6991a1b9e9
AP_Compass: ensure we have payload space to send MAG_CAL messages
2015-09-07 08:58:11 +10:00
2baa0ac2f2
AP_Compass: disable COMPASS_LEARN when mag calibration used
2015-09-07 08:07:17 +10:00
079161ef3a
AP_Compass: fixed raw_field init in AK8963 driver
...
thanks to Peter for spotting this
2015-09-03 21:27:22 +10:00
e4b2fc711d
AP_Compass: added message for compass cal when armed
2015-09-03 16:59:22 +10:00
f4cdf57d8f
AP_Compass: added handling of compass calibration mavlink messages
2015-09-03 16:59:14 +10:00
75829f5533
AP_Compass: remove extra compass field correction
2015-09-03 16:59:14 +10:00
3abdf85796
AP_Compass_Calibrator: remove unrequired variables
2015-09-03 16:59:14 +10:00
c126017035
AP_Compass: reduce to if healthy check from if-else
2015-09-03 16:59:14 +10:00
2fb002798c
generate.sh
2015-09-03 16:59:14 +10:00
63973bff31
AP_Compass_AK8963: move variable declarations before goto
2015-09-03 16:59:14 +10:00
6a603eb594
Compass_cal: implement the concept of auto and mandatory user reboot after cal
2015-09-03 16:59:13 +10:00
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
cdd8bae6ac
AP_Compass: publish raw and unfiltered field for HMC5843 compass
2015-09-03 16:59:13 +10:00
8cdc9748b3
AP_Compass: publish raw and unfiltered field for AK8963 compass
2015-09-03 16:59:13 +10:00
f085e274c7
AP_Compass: add explaination for sample acceptance based on angular distance
2015-09-03 16:59:13 +10:00
f108383c11
AP_Compass: initialize CompassCalibrator _sample_buffer to NULL
2015-09-03 16:59:13 +10:00
358736a592
AP_Compass: correct calibrator sample acceptance math
2015-09-03 16:59:13 +10:00
bff9b9065e
AP_Compass: CompassCalibrator comment update
2015-09-03 16:59:13 +10:00
137bd25220
AP_Compass: add info about compass calibrator procedure
2015-09-03 16:59:12 +10:00
f5fbc2fac1
AP_Compass: use AP_Math inverse library
2015-09-03 16:59:12 +10:00
0edf1df28e
AP_Compass: loosen calibration acceptance tolerance
2015-09-03 16:59:12 +10:00
987f55387e
AP_Compass: style cleanup
2015-09-03 16:59:12 +10:00
5ef713f3db
AP_Compass: set AP_Notify::compass_cal_failed
2015-09-03 16:59:12 +10:00
5a12991d29
CompassCalibrator: remove dependence on AP_Notify
2015-09-03 16:59:12 +10:00
de600ca3da
AP_Compass: configured() only checks compasses with _USE set
2015-09-03 16:59:12 +10:00
72c8d0f530
AP_Compass: add samples to calibrator when published
2015-09-03 16:59:11 +10:00
cc36401b7c
AP_Compass: add calibration interface
2015-09-03 16:59:11 +10:00
05d3616e0d
AP_Compass: fix sitl build
2015-09-03 16:59:11 +10:00
7cb9fa8898
AP_Compass: Correct parameter checks in compass cal
2015-09-03 16:59:11 +10:00
6d45660568
AP_Compass: refactor run_fit_chunk logic
2015-09-03 16:59:11 +10:00
f2acf2cb88
AP_Compass: more parameter checks in compass calibrator
2015-09-03 16:59:11 +10:00
929ddb5685
AP_Compass: fix a math error in the compass calibrator
2015-09-03 16:59:10 +10:00
328cf82c3d
CompassCalibrator: update AP_Notify on failure
2015-09-03 16:59:10 +10:00
bfdbb55528
AP_Compass: make compasscalibrator running() public
2015-09-03 16:59:10 +10:00
d31d385490
AP_Compass: changes and fixes to LMA-based compass calibrate
2015-09-03 16:59:10 +10:00
c66bfc95e1
Compass: Add Levenberg-Marquadt for ellipsoid fit
2015-09-03 16:59:10 +10:00
7711dde2ad
Compass: implement 9 parameter ellipsoid fit
2015-09-03 16:59:10 +10:00
35555c7b21
Compass: Add math for 9 parameter fitting
2015-09-03 16:59:10 +10:00
7295537e8a
Compass: decrease sphere coverage to 1/3rd
...
for faster sample collection
2015-09-03 16:59:10 +10:00
a2bd4e8997
Compass: Add less complex equations to calculate jacobians
2015-09-03 16:59:10 +10:00
2ca0e80dc5
Compass: Add conditions to check sanity of results
2015-09-03 16:59:10 +10:00
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
c0a662c819
AP_Compass: CompassCalibrator initial commit
2015-09-03 16:59:10 +10:00
f20ef69777
Compass: add soft-iron corrections
2015-09-03 16:59:09 +10:00
5fe6db0dc9
AP_Compass_PX4: use new compass backend interface
2015-09-03 16:59:09 +10:00
ade39abc7f
AP_Compass_HMC5843: use new compass backend interface
2015-09-03 16:59:09 +10:00
8800d03fce
AP_Compass_HIL: use new compass backend interface
2015-09-03 16:59:09 +10:00
cd5cf45ba8
AP_Compass_AK8963: use new compass backend interface
2015-09-03 16:59:09 +10:00
add1b8c257
AP_Compass: modify backend interface to push raw samples to frontend
2015-09-03 16:59:09 +10:00
b990eaed68
AP_Compass: add interface for raw and unfiltered field
2015-09-03 16:59:09 +10:00
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
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
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
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
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
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
d8bddcbf3a
AP_Compass: fix indentation in HMC's driver
2015-08-28 12:39:09 +10:00
79ffddc6db
AP_Compass: add a macro for checking calibration values in HMC
2015-08-28 12:39:08 +10:00
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
a9e8c1c464
AP_Compass: encapsulated calibration in HMC
2015-08-28 12:39:08 +10:00
0fbc295d97
AP_Compass: encapsulated version detection in HMC driver
2015-08-28 12:39:08 +10:00
868d0bf3c3
AP_Compass: AK8963: refactor constructors
...
Declare a common constructor that others can call.
2015-08-28 12:39:08 +10:00
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
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
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
69a86a78a6
AP_Compass: removed AVR1280 specific ifdef
2015-08-11 16:47:41 +10:00
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
66469d7529
Compass_HMC5843: remove unnecessary i2c semaphore give
2015-08-07 15:50:36 +09:00
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
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
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
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
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
8ab33c46ce
AP_Compass: revisited AK8963 code
...
Reduced duplication a bit and revisited the update method which is now
split into several logical hunks.
2015-07-23 17:44:36 +10:00
fffedae3e0
AP_Compass: AK8963: reduce stack usage and zero out buffers
...
Since we are not using MPU9250's fifo to get samples from AK8963 we will
always read only 1 sample (+ control registers).
2015-07-23 17:44:35 +10:00
37734886a5
AP_Compass: AK8963: remove repeated comments
...
No need to repeat the same comments on 3 different places. Instead add a
single comment to explain how start_measurements() and read_raw() are
related.
2015-07-23 17:44:35 +10:00
27d95b67a8
AP_Compass: AK8963: remove state machine
...
Don't use a state machine in AK8963: the start_measurements() method
should be called only once. Even if there's a magnetic sensor overflow
the only thing we should do is to discard the new data.
This also moves the _collect_samples() method to be inside _update()
since it's the only place it should be called from, the one running on
the timer thread.
2015-07-23 17:44:35 +10:00
e232543fca
AP_Compass: AK8963: change initialization and rename methods
...
We need to check the AK8963's id before anything else Here we are
reordering the calls to _calibrate() and _check_id(). After that we
don't need to read and write again the AK8963_CNTL1 register.
While at it do some renames as well:
- _configure() -> _setup_mode(): since now there's a
_bus->configure() it became confusing what actually it's
doing.
- make error messages say what we were actually trying to do but
couldn't. Also remove PSTR since this is linux-only.
- start_conversion() -> start_measurements(): We are instructing the
bus to start to get the samples, not to tell the chip to start an
analog->digital conversion like in other sensors.
2015-07-23 17:44:35 +10:00
ae5d9baddb
AP_Compass: AK8963: remove defines not used anymore
...
The MPUREG_PWR_MGMT_1 defines were used when we cared about the MPU9250
initialization code. Now all initialization is done by the MPU9250 class
itself, so remove these defines.
Also remove AK8983_SELFTEST_MAGNETIC_FIELD_ON that is never used and let
the defines always with 2 bytes to improve readability.
2015-07-23 17:44:34 +10:00
cae895bfdf
AP_Compass: AK8963: group members together
...
Besides being semantically related, this removes the hole due to
alignment. The size is the same since the hole is actually turned into
padding.
2015-07-23 17:44:34 +10:00
28d3d775a4
AP_Compass: AK8963: remove resolution member
...
We only use the highest one and there's no intention to support the
14bits one. Just use the define rather than saving it as a member.
2015-07-23 17:44:34 +10:00
86b3312112
AP_Compass: AK8963: factor out common code of read_raw()
...
Similar code was added in the read_raw() implementation for each bus.
Add a new POD struct read_raw to contain the registers from the AK8963
and use it instead as argument.
2015-07-23 17:44:33 +10:00
d941174978
AP_Compass: AK8963: enhance the readability
...
Reduce the deepness of indentation and fix coding style.
2015-07-23 17:44:33 +10:00
fd5d25b1d5
AP_Compass: use ARRAY_SIZE macro
2015-07-21 14:25:17 +09:00
cedc9a8670
Compass: add last_update_usec per instance
2015-07-17 10:02:41 +09:00
51c3c499e2
AP_Compass: support AK8963 on I2C
2015-07-10 16:46:30 +10:00
0b41da0dea
AP_Compass: rework to make the bus generic for AK8963
...
Supporting only MPU9250, prepare to implement another bus, i.e i2c on the
bebop
2015-07-10 16:46:29 +10:00
0cd584c293
AP_Compass: fix rotation for bebop AK8963
...
Set the correct rotation for bebop
2015-07-10 16:46:29 +10:00
7dd0b5fae6
AP_Compass: removed _spi_sem and _spi
2015-07-10 16:46:29 +10:00
c83d5b1f08
AP_Compass: only build AK8963 driver on Linux
...
must match MPU9250 build
2015-07-09 11:57:27 +10:00
d192b3ccea
Compass: set device id for ak8963 and hmc5843
2015-07-06 21:04:46 +09:00
f56f584233
Compass: Improved field rounding in learning
...
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
2015-07-06 11:31:58 +10:00
1deb837e70
AP_Compass: Use common function in MPU9250 for initialization
2015-07-06 10:48:07 +10:00
26c8007c96
AP_Compass: updated backend detect method
...
Uses reimplemented AK8963 driver. There's also no need trying to detect this
compass twice. Actually, it might even be bad, because the current code can
allocate an AK8963 object twice.
2015-07-06 10:48:06 +10:00
7a417d1151
AP_Compass: AK8963 rework
...
Got rid of extra abstraction layer. There is no need for that now.
2015-07-06 10:48:06 +10:00
43b1694c76
Compass: add third compass to PRIMARY param description
2015-07-02 14:19:30 +09:00
5b0394eb05
AP_Compass: start MPU9250 driver at low speed
...
this raises the chances of successful init of the MPU9250
2015-07-02 08:48:06 +10:00
d6a1bd98e6
AP_Compass: convert example from .pde to .cpp
2015-06-01 16:58:11 +10:00
edc21cfa38
AP_Compass: make having no compass backends non-fatal
...
thanks to Daniel for spotting this
2015-05-26 14:23:40 +10:00
95627cf412
AP_Compass: use functor macros
...
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:52 +10:00
2475ee9630
AP_Compass: setup HIL/SITL for two compasses
2015-05-16 07:06:04 +10:00
91b4ba3588
AP_Compass: allow for more than one compass in HIL/SITL
2015-05-15 14:25:44 +10:00
ade4f81c77
Compass: fix example sketch
2015-05-15 11:53:28 +09:00
015fce5183
AP_Compass: revert AP_Math class change
2015-05-05 13:27:06 +10:00
d09ef4783d
AP_Compass: compiler warnings: reorder constructors
2015-05-05 13:26:52 +10:00
ad11a57f57
AP_Compass: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:51 +10:00
be3d6c924e
AP_Compass: rename enum values to avoid header conflicts for 'ERROR'
2015-05-05 09:45:53 +10:00
16e71ec1ce
Compass: fix compile warning re member init order
2015-04-24 14:15:00 +09:00
bf1d128d70
Compass: fix compile warnings re float constants
...
Also fix example sketch
2015-04-24 12:29:07 +09:00
dcb25632fb
AP_Compass: removed old setHIL compass offset
2015-04-21 08:30:05 +10:00
d7000c4105
AP_Compass: fixed compass timestamps in Replay
2015-04-20 15:12:51 +10:00
996739df12
AP_Compass: Do not panic if compass is not found
...
Copter uses 2 compasses for linux configuration, but one of them may not
be available. Do not panic if a AK8963 isn't found.
2015-04-14 09:29:12 +10:00
c8b0970e61
AP_Compass: show compass count in example
2015-03-14 20:00:29 +11:00
f4455d063e
AP_Compass: fixed example
2015-03-14 17:07:39 +11:00
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
86fc90f54c
AP_Compass: removed spurious rotation in PX4 backend
...
and cleanup rotation macros
2015-03-14 08:52:37 +11:00
d7bac39539
AP_Compass: removed two unused functions
2015-03-14 08:52:37 +11:00
fec2025469
AP_Compass: added set_hil_mode()
2015-03-13 22:52:55 +11:00
8f6982860f
AP_Compass: fixed devid for 2nd compass
2015-03-13 20:46:32 +11:00
7b51c907f5
AP_Compass: zero some more variables in constructor and init
2015-03-13 19:22:11 +11:00
4bc92b6373
AP_Compass: removed _product_id var
2015-03-13 18:59:52 +11:00
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
a871c87cad
AP_Compass: use state array for compass variables
2015-03-13 18:46:15 +11:00
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
d3b76cd8d3
AP_Compass: split compass into frontend/backend
2015-03-13 18:46:15 +11:00
99ed508903
AP_Compass: change for new PX4 paths
2015-02-14 12:25:43 +11:00
52c5db8440
AP_Compass: Changes to fix the warnings in rover sitl build.
...
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
2015-02-11 18:16:45 +11:00
5e8c1b61b5
AP_Compass: AP_Compass_VRBRAIN.cpp added _is_external overwrite to deal with external compass attached to internal I2C BUS
2015-02-02 08:44:00 +11:00
635ff92d6b
Compass: fix example sketch
2015-01-28 17:15:39 +09:00
9a65a8c8fb
AP_Compass: add AK8963 to auto-detect in test suite
2015-01-22 14:34:23 +11:00
e9d4165a8d
AP_Compass: add AK8963 support to test suite
2015-01-22 14:34:17 +11:00
c16eb5d330
AP_Compass: fixed corrections for AK8963
2015-01-09 06:38:22 +11:00
4394f0cf75
AP_Compass: fixed external compass detection for AK8963
2015-01-09 06:38:22 +11:00
f0753e965e
AP_Compass: eliminated possible division by zero in AK8963
2015-01-09 06:38:22 +11:00
b804430276
AP_Compass: changed default orientation for AK8963 on Navio
2015-01-09 06:38:22 +11:00
9835544163
AP_Compass: fixed build on non-Linux platforms
2015-01-07 08:41:14 +11:00
0d1cf347c7
AP_Compass: added AK8963 support
2015-01-07 08:41:12 +11:00
ffbc3862bd
Compass: update compass orient param description
...
Update rotation 38 to Yaw293Pitch68Roll90
2015-01-02 17:19:12 +09:00
a686494127
AP_Compass: fixed example build
2014-11-28 10:40:34 +11:00
20f3f19285
Compass: add new rotation to ORIENT param description
2014-11-22 14:13:25 +09:00
7f00dd413f
AP_Compass: fixed HMC5883's initialisation code
2014-11-14 10:21:04 +11:00
31087e4f20
Compass: shorten EXTERNAL2/3 to EXTERN2/3
...
Bug discovered by Michael Day
2014-11-08 10:21:22 +09:00
7db0244dac
AP_Compass: added some comments
2014-10-19 17:02:45 +11:00
9054dd3f9a
AP_Compass: use apply_correction_function to eliminate duplication
2014-10-19 17:02:45 +11:00
b437977547
AP_Compass: added set_offsets() interface
...
this will be used by Replay to prevent the need for saving parameters
2014-10-15 09:16:31 +11:00
7caa611eb1
Compass_HIL: use instance specific orient and external
2014-10-01 13:02:03 +10:00
86aac4f40c
Compass_HMC5843: use instance specific orient and external
2014-10-01 13:02:03 +10:00
900896977c
Compass_VRBrain: use instance specific orient and external
2014-10-01 13:02:03 +10:00
85e82a0399
Compass_PX4: use instance specific orient and external
2014-10-01 13:02:03 +10:00
023b6afe8b
Compass: add ORIENT2 and EXTERNAL2 params
2014-10-01 13:02:03 +10:00
16058cb730
Compass_VRBrain: primary compass based on use_for_yaw
2014-10-01 13:02:02 +10:00
01fa4ba619
Compass_PX4: primary compass based on use_for_yaw
2014-10-01 13:02:02 +10:00
798cc36e64
Compass: use_for_yaw for each compass
2014-10-01 13:02:02 +10:00
84d792216e
Compass: use_for_yaw to use primary compass health
...
This allows the internal compass to be used if the external compass
fails.
2014-10-01 13:02:02 +10:00
e14ae0c0b1
Compass: param descriptions for OFS2, MOT2
2014-09-27 17:59:26 +09:00
c2c5807ec7
Compass: always default devid to zero
2014-09-23 20:35:18 +09:00
9f6d1f987b
AP_Compass: removed use of hrt_absolute_time()
2014-08-20 08:41:28 +10:00
41e65c2415
AP_Compass: fixed default orientation for PXF
2014-08-19 10:08:17 +10:00
3b53c167a0
AP_Compass: VRBRAIN. Deal with external mag connected on internal I2C on VRBRAIN 4.5
...
This enables user to set the external parameter to true even if only one compass is connected
2014-08-16 20:28:50 +10:00
c49981c03d
AP_Compass: fixed example build
2014-08-13 22:11:25 +10:00
1092447360
AP_Compass_VRBrain: add support for two compasses
2014-07-23 20:51:12 +09:00
4deafffb3e
AP_Compass: VRBRAIN corrected function definition
...
Add support for two compasses.
2014-07-23 20:47:19 +09:00
a6c29ba1c3
Compass_PX4: get_primary made public
2014-07-22 22:01:23 +09:00
c16672a529
Compass_VRBrain: get_primary made public
2014-07-22 22:01:22 +09:00
d291594d7c
Compass: get_primary method made public
2014-07-22 22:01:09 +09:00
1f579563e6
Compass: set_motor_compensation takes instance as first parameter
...
Also get_motor_compensation uses primary compass
2014-07-22 21:59:04 +09:00
47801a6c4d
Compass: bug fix to init of device id
...
Also init members to reduce compiler warnings
2014-07-16 14:29:10 +09:00
701aa9ac4c
AP_Compass: DEVIOCGDEVICEID is (currently) not defined in VRNuttX
2014-07-15 11:42:37 +10:00
1e20f89f90
AP_Compass: use HAL_COMPASS_DEFAULT in example code
2014-07-14 09:44:36 +10:00
bbf4805b0e
Compass: update pixhawk expected device ids
2014-07-11 11:10:18 +09:00
c9f3adcb5c
Compass: Updated COMPASS_PRIMARY parameter description
2014-07-10 15:32:06 -07:00
0ecd12b1c6
AP_Compass: Corrected typo in parameter description
...
Corrected typo in parameter description
2014-07-10 14:19:19 -07:00
4995b9ada8
Compass: default device id to zero
2014-07-10 20:25:36 +09:00
16d4af8346
Compass: sanity check instance in set_and_save_offsets
2014-07-10 20:25:32 +09:00
cf7e1a6339
Compass: example sketch update for set_and_save_offsets
2014-07-10 20:25:13 +09:00
a778522cef
Compass: add learn_offsets_enabled accessor method
2014-07-10 20:25:11 +09:00
108c878b04
Compass: set_offsets modified to also save offsets
2014-07-10 20:25:08 +09:00
124bd4b489
Compass: save_offsets accepts compass instance
2014-07-10 20:25:05 +09:00
070f1c1bbb
Compass: add dev_id for VRBrain
2014-07-10 20:24:49 +09:00
f42c9579d7
Compass: add dev_id for PX4
...
dev_id is retrieved from PX4Firmware via ioctl call
2014-07-10 20:24:46 +09:00
b7f33d81ad
Compass: add DEV_ID param and configured method
...
These allow checking the offsets were created with the current compass
device.
2014-07-10 20:24:44 +09:00
c138244155
AP_Compass: support 3 mags on PX4
2014-07-04 12:07:47 +10:00
8f3a4bc88b
VRBRAIN: correction to AP_Compass_VRBRAIN.cpp
2014-06-19 11:27:45 +02:00
8f552d5758
VRBRAIN: Changed the management of VirtualRobotix's boards.
2014-06-19 11:27:38 +02:00
e9e1799700
AP_Compass: fixed VRBrain build
2014-06-02 10:42:37 +10:00
2d9e9d9bc3
AP_Compass: added COMPASS_PRIMARY parameter
...
this allows selection of which compass is the primary. Useful if the
first compass starts giving spurious data (as happened in our plane)
2014-05-25 22:03:44 +10:00
e883b889b6
SITL: Add compassmot interference
2014-05-15 21:14:20 +10:00
b7bed437c2
Compass: fixup line endings
2014-04-15 15:56:57 +09:00
1bc199c5bd
AP_Compass: new files and definition for VRBRAIN board
2014-04-08 16:19:19 +10:00
485ae596fc
AP_Compass: fixed last_update for secondary compass with primary failed
...
this ensures EKF and DCM will use a secondary compass if the primary
fails
2014-03-23 22:05:17 +11:00
60a4f74de6
AP_Compass: avoid division by zero if we haven't received any mag reports
...
Otherwise, get_field() will return NaNs after once every few calls to
read() during compassmot on PX4 platforms, which causes compassmot to fail.
This is a quick hack around the deeper issue, which could be something
like the PX4 mag driver experiencing starvation and skipping mag reports,
buffer overrun or something else that causes mag reports to be dropped.
Or perhaps we should never expect in the first place that we will always
receive at least one mag report between calls to read().
2014-03-23 21:22:32 +11:00
db48ed9218
AP_Compass: fixed showing of is_external for 2nd compass
2014-03-13 16:26:43 +11:00
cf148fa76c
AP_Compass: improved COMPASS_ORIENT and COMPASS_EXTERNAL for Pixhawk
2014-02-27 12:46:27 +11:00
189d635493
AP_Compass: constrain compass offsets to +/- 2000
...
this is prompted by a user log showing NaN compass offsets, resulting
in a crash. The patch ensures we never end up with NaN offsets, and
also constrains the offsets to a reasonable limit
2014-02-16 13:33:41 +11:00
9bb8f73d56
Compass: split compass learning out to its own C++ file
2014-02-16 13:21:06 +11:00
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
bc2d17e76e
AP_Compass: added vector compass setHIL method
2013-12-30 14:35:24 +11:00
c44d8b45ce
AP_Compass: auto-select healthy compass
2013-12-09 20:01:42 +11:00
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
0a7a935f63
AP_Compass: fixup
2013-12-09 17:54:54 +11:00
c538816825
AP_Compass: support compass health status on multiple compasses
2013-12-09 17:46:41 +11:00
bde89fd4e2
AP_Compass: added compass offsets for 2nd compass
2013-12-09 17:34:07 +11:00
8a97042fb1
AP_Compass: updates to support multiple compasses
2013-12-09 17:34:07 +11:00
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
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
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
f286369990
AP_Compass: fixed orientation on Linux
2013-10-08 11:50:54 +11:00
83c942a512
AP_Compass: prevent NULL deref on enable mag while running
2013-10-08 11:50:53 +11:00
da14ad2e2d
AP_Compass: neaten up HMC5883 debug
2013-09-28 21:24:02 +10:00
ce7d458855
AP_Compass: added Linux support to the compass test
2013-09-28 21:24:02 +10:00
6fc5b06043
AP_Compass: fixed some old Serial.print calls
2013-09-28 21:24:02 +10:00
1243ab9e63
AP_Compass: added HAL_Linux support
2013-09-28 21:24:02 +10:00
3f0f8dfa62
AP_Compass: removed SMACCM support
2013-09-26 22:38:31 +10:00
2fa0c39f3a
AP_Compass: added Flymaple orientation
2013-09-24 13:18:35 +10:00
4c65c42411
AP_Compass: fixed ARM 32 bit compatibility
2013-09-23 18:10:21 +10:00
229841052a
AP_Compass_PX4: removed MAGIOCSSAMPLERATE call
2013-09-09 18:04:41 +10:00
db14a85fc5
AP_Compass: added more debugging to AP_Compass_PX4 driver
...
this helps debug compass initialisation issues
2013-09-09 18:04:40 +10:00
b8b72819c1
AP_Compass: ignore COMPASS_ORIENT for internal compass
...
this means if COMPASS_ORIENT is not 0 and the external compass fails
to start on boot we don't end up with a bad compass orientation
2013-09-07 16:49:51 +10:00
9320e82ac2
AP_Compass: added in new orientations
2013-08-30 14:19:03 +10:00
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
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
1ff669eb97
AP_Compass: simplify PX4 compass driver
...
we can now rely on queueing in the NuttX driver
2013-08-30 13:01:34 +10:00
feac9d1306
AP_Compass: fixed a bug in the tilt compass calculation
...
The simplification applied a few months ago was incorrect
2013-08-18 21:08:52 +10:00
ab311d1dd4
AP_Compass: removed comparison out of range compiler warning
...
uint_ >= 0 (-Wtype-limits)
2013-07-08 14:57:25 +10:00
a6c7bd3612
AP_Compass: fixed rotations for COMPASS_ORIENT
...
this matches AHRS_ORIENTATION again
2013-07-08 12:17:59 +10:00
1a3ed2d80b
AP_Compass: Corrected COMPASS_ORIENT Parameter Description
2013-06-26 19:14:24 -07:00
4007b7b1e9
AP_Compass: fixed indent-tabs-mode
2013-05-30 09:52:30 +10:00
80bd458f29
Compass: update parameter description
...
We do not want people modifying the COMPASS_MOTCT manually
2013-05-11 14:50:36 +09:00
9a87b3f3c1
AP_Compass: use const on more functions and remove old calculate_heading()
...
the calculate_heading() based on roll/pitch is not needed anywhere
2013-05-09 09:24:06 +10:00
f78de63a09
AP_Compass: more efficient calculate_heading() implementation
...
Thanks to piersh for this improvement. See
b5f0635455 (commitcomment-3171806)
2013-05-09 09:24:06 +10:00
c90d44c121
AP_Compass_HIL: fixed indentation
2013-05-02 21:31:17 +10:00
f72dd560cb
AP_Compass: fixed the HIL sensors compass
...
this sets up good compass values for HIL sensors
2013-05-02 14:59:33 +10:00
86027f6e0f
AP_Compass: fixed PX4 build
2013-05-02 13:00:52 +10:00
af50b652f8
AP_Compass: removed old orientation defines
...
we now use the rotations in libraries/AP_Math/rotations.h
2013-05-02 12:48:14 +10:00
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
ba83950fc4
libraries: replace constrain() with constrain_float()
...
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
2013-05-02 10:25:40 +10:00
0fce0eb488
AP_Compass_PX4: fixed handling of a saturated compass
...
a saturated compass is now marked unhealthy, rather than causing the
code to spin waiting for a valid sample. This fixes a problem with
strong magnets causing the main flight loop to stop
2013-05-01 08:54:53 +10:00
26fa5c40f1
Compass: use const references for some functions
2013-04-22 13:26:49 +10:00
b8974dec99
Copter: compass learn off by default
2013-04-16 18:47:39 +09:00
b48864e1ad
Copter: allow CH6 tuning of compass declination
2013-04-15 21:50:44 +09:00
9760cdf2d7
Compass: corrected space
2013-03-18 14:27:49 +09:00
b8d492b504
Compass: current based compensation added
2013-03-03 23:02:12 +09:00
e113eb526b
Compass: add get_motor_compensation
...
Remove redundant set_motor_compensation call
2013-03-02 17:53:03 +09:00
bfb29ce22b
Compass: remove virtual functions to save RAM
2013-03-02 00:07:32 +09:00
886725291c
Compass: enable motor compensation for 1280
...
Expand motor compenstion vector's range limit
2013-03-02 00:03:29 +09:00
8093c98cd3
Compass: add motor compensation to HIL library
2013-03-02 00:03:24 +09:00
d8515ff85e
Compass: basic compensation for motor interference
2013-03-02 00:03:16 +09:00
80eaa52ed8
AP_Compass: use report timestamp on PX4 for accurate timing
2013-01-22 21:22:01 +11:00
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
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
60a4447a86
AP_Compass: added set_board_orientation() method
2013-01-13 17:32:48 +11:00
8f424cdf21
AP_Compass: ensure we check we got the semaphore
2013-01-09 20:42:20 +11:00
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
26bc278181
AP_Compass: use queue length 10 in PX4 driver
...
and remove unnecessary poll() call
2013-01-04 20:12:03 +11:00
741174f5d5
AP_Compass: first cut at a PX4 compass driver
2013-01-04 16:21:24 +11:00
bf77a0f2e4
AP_Compass: added parameter descriptions
2013-01-02 16:08:44 +09:00
374af1cd14
build: change from Arduino.mk to apm.mk
2013-01-02 17:29:37 +11:00
a180437028
AP_Compass: disable auto-declination on 1280
...
this saves a few k of flash space
2012-12-20 14:53:23 +11:00
a1187519a8
AP_HAL: use AP_HAL_BOARD_DRIVER in remaining test sketches
2012-12-20 14:52:37 +11:00
eb530b86e8
move Arduino.mk to /mk/Arduino.mk
2012-12-20 14:52:35 +11:00
7d27e420ae
AP_HAL: remove unnecessary Arduino.h includes
2012-12-20 14:52:30 +11:00
c181498e36
Compass: updates for new AP_Param API
2012-12-20 14:51:38 +11:00
475da4eca4
CONFIG_HAL_BOARD - test sketches fixed up, build all passes
2012-12-20 14:51:37 +11:00
b70f7f57ba
AP_Compass: restore low speed change on register read failure
2012-12-20 14:51:37 +11:00
a4f1f6a5db
AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR
2012-12-20 14:51:28 +11:00
53432a1101
AP_Compass: ported to AP_HAL
2012-12-20 14:51:26 +11:00
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
daa4712078
AP_Compass: force I2C speed low in a couple more situations
2012-11-12 11:26:20 +11:00
8c2dadc12f
AP_Compass: print I2C error count in test sketch
2012-11-12 10:28:26 +11:00
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
04e48ef878
uncrustify libraries/AP_Compass/Compass.h
2012-08-21 19:19:51 -07:00
6bc9c5707f
uncrustify libraries/AP_Compass/AP_Compass_HMC5843.h
2012-08-21 19:01:34 -07:00
f534730fab
uncrustify libraries/AP_Compass/AP_Compass_HIL.h
2012-08-21 19:01:21 -07:00
4f9c6bbb19
uncrustify libraries/AP_Compass/AP_Compass_HMC5843.cpp
2012-08-21 19:01:20 -07:00
7840eebaef
uncrustify libraries/AP_Compass/Compass.cpp
2012-08-21 19:01:20 -07:00
d1190e1ed4
uncrustify libraries/AP_Compass/AP_Compass_HIL.cpp
2012-08-21 19:01:20 -07:00
53ef9e8b9e
uncrustify libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde
2012-08-21 19:01:20 -07:00
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
71f12fbc9b
AP_Compass: replace "long" with "int32_t"
2012-08-18 16:58:16 +09:00
518d6365ff
AP_Param: update remaining libraries for new constructor syntax
2012-08-08 12:11:57 +10:00
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
ef43da9b92
AP_Compass - changed parameter initialisation order to remove compiler warning
2012-04-09 17:37:02 +09:00
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
16deefce31
Compass: fixed a comment
2012-03-29 12:39:53 +11:00
17290836ef
Compass: added some more comments
...
explain the algorithm a bit more
2012-03-29 12:39:53 +11:00
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
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
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
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
d10c4b76ad
Compass: removed an incorrect comment
2012-03-11 20:07:38 +11:00
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
cb96dd975f
Compass: update the compass driver to use the new vector.rotate() method
2012-03-11 15:37:07 +11:00
6eff9107ea
Compass: change last_update to be in microseconds
2012-03-10 10:34:32 +11:00
6d356b6c6e
Compass: fixed last_update time for HIL compass
2012-03-10 10:34:30 +11:00
fa34ac076e
AP_Compass - fixed compile warning
2012-02-29 22:57:35 +09:00
c819a0f68a
AP_Compass - fixed small compiler warning to do with order of parameters in constructor
2012-02-29 22:45:49 +09:00
d0a6359b37
Compass: use constructor to set initial values for _learn and _use_for_yaw
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this ensures they are set if you have MAG_ENABLE==0
2012-02-25 17:36:31 +11:00
f59297d7a7
Compass: catch the case of a user enabling a compass mid-flight
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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
664622523d
Compass: added COMPASS_LEARN and COMPASS_USE parameters
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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
c354879f1f
Compass: ensure we don't produce NAN values for compass heading
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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
62326c0f72
Compass: enable compass offsets for HIL compass
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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
6a42598ade
use stdint types in the compass code
2012-02-14 08:35:03 +11:00
9c5a5473ab
added indexes to group info structures
2012-02-13 16:22:52 +11:00
bf4a77da81
convert libraries to new typesafe macros
2012-02-13 16:22:51 +11:00
8c58d95187
modify the compass code for AP_Param
2012-02-13 16:22:51 +11:00
ed19c25a97
Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h".
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Modified FastSerial's write function to return size_t (number of bytes written).
2012-01-28 12:25:47 +09:00
e22a83eec0
Add a CLI setup action to reset the magnetometer offsets
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Since the magnetometer offsets are not available through the MAVLink parameter interface (since they are an AP_Var vector) this little feature allows them to be reset from the CLI. Useful if you somehow get bad offsets or if you change magnetometer. If you have a bad set of large offset values I have seen issues with the nulling algorithm have trouble converging to the proper values. I have never seen it have trouble converging from 0/0/0, so this could be a useful feature from time to time.
2012-01-15 16:15:08 -07:00
9846822748
Bug fix for compass.
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This is a fix for an interesting bug when a DCM matrix reset was added to the ground start. This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets. Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug? The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix. This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge.
If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all. Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large. Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.
To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm. Further, when the algorithm is started, it is set up to get fresh samples. The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
2012-01-12 14:44:24 -07:00
60185509f4
AP_Compass: when I2c fails, don't retry for 1s
2012-01-04 16:35:47 +11:00
820153d7ae
compass: show timing in compass test
2011-12-28 21:44:18 +11:00
acf4e9b61d
I2C: convert compass code to new I2C library
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this also adds a healthy attribute, and error checking on all I2C
calls
2011-12-28 20:41:53 +11:00
6093db948b
compass: added AP_COMPASS_APM2_SHIELD
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this makes the orientation clearer
2011-11-25 20:00:18 -08:00
0c7c508541
Optional recursion added.
2011-09-30 17:17:51 -04:00
5489b84f8e
Improvements to cmake.
2011-09-29 21:23:26 -04:00
d887a28b91
Added ArduBoat/ ArduRover/ and APO library.
2011-09-29 14:12:15 -04:00
a4e001bbcf
Adding CMake support
2011-09-14 15:44:55 +02:00
0bf026e6ad
Compass: added a gain multiplier
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this adjusts the calibration based on the change in gain between
calibration and runtime
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3090 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 10:39:11 +00:00
ab04055c35
Compass: several fixes to compass calibration code
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this changes the calibration code to require at least 5 good reads
from the compass during initialisation. The calibration is taken as
the average of the 5 values.
This also fixes the expected values for the 3 axes for the 5883 to
match reality.
We also save a bit of code space by adding a common rotate_for_5883L()
routine.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3087 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 08:17:25 +00:00
5836e27813
we don't have a separate 5883L driver any more
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3085 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 06:30:13 +00:00
c860fd736a
Compass: removed the old 5883L driver
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we now use a single driver for both mags
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3083 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 05:09:58 +00:00
a604e30c7c
cope with double initialisation of the compass
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if we've already initialised, then the orientation matrix will already
be right
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3072 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-10 14:07:15 +00:00
7d58916a9d
compass: add a small delay in compass init
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this adds a 50ms delay after setting the compass gains before reading
the compass. Added as paranoia after some strange results on a 5843
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3070 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-10 12:47:25 +00:00
48f010f80c
compass: fixed a compiler warning
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2844 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-13 09:10:24 +00:00
165643c307
fixed 5843 detection code
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we were looking for the wrong regA value
Thanks to Chris for the debugging help! (and happy birthday!)
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2828 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-09 22:27:15 +00:00
7b803a9e1a
compass: added error checking on I2C transactions
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this adds error checking to all operations on the compass, to ensure
that we don't accept invalid data
This also fixes the calibration values for the 5883L to match the
recommended values in the spec
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2815 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-09 12:10:00 +00:00
0d31d9be10
Added a limit to the atan function to calc the heading. Just trying to avoid, bad values screwing up the DCM. - Jason
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2777 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-08 03:56:04 +00:00
90b0d769f8
compass: fixed normal operation mode change for 5883L
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We need to set the right rates after config too. Thanks to Randy for
spotting this one
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2737 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-03 12:00:45 +00:00
d46536e142
compass: fixed output rate and averaging for 5883L
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we need to setup the right output rate, or the compass gets very laggy
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2736 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-03 08:32:58 +00:00
2605c4b4b2
AP_Compass: fixed calibration of 5883L compass
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this fixes a compass initialisation bug where if the first value from
the compass isn't in the right range we would set bad calibration
scaling factors.
This also changes the maximum acceptable calibration values to 2000,
which is needed for the 5883 compass
pair-programmed-with: Randy Mackay
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2718 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-02 11:31:38 +00:00
c78da666ec
AP_Compass: report compass initialisation failure
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don't just put out rubbish values
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2717 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-02 11:31:27 +00:00
d310744bfc
AP_Compass_test - added display to auto detected compass
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2716 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-01 16:26:27 +00:00
8ce403cbe4
AP_Compass - added auto detect of 5843 vs 5883L to AP_Compass_HMC5843 class
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2700 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-28 16:47:53 +00:00
da7a13128a
AP_Compass - added auto detect of 5843 vs 5883L to AP_Compass_HMC5843 class
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2699 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-28 16:30:42 +00:00
18a9ff6f80
AP_Compass - added support for HMC5883L
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2461 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-01 13:21:20 +00:00
ed7e0d1660
AP_Compass - added support for HMC5883L
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2460 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-01 13:16:18 +00:00
b5f0635455
Add an alternate compass.calculate() function substituting 1 sqrt func for 4 trig funcs.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2221 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-08 18:15:29 +00:00
7809b0ca2a
Massive warning fixes.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2089 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-04 19:12:27 +00:00
aa598b575a
APO merge.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1935 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 02:05:17 +00:00
18c4b79a1e
Fixed bug in compass tests, had it initialize fastserial.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1862 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-09 19:57:54 +00:00
b81d2ef753
added names to output in show
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1698 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-20 03:46:18 +00:00
295b4277f0
fix compass shim
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1684 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 10:04:00 +00:00
b6245b471a
Added accessors declination.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1677 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 03:57:53 +00:00
a4e791dc92
Line ending property changes.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1649 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:27:07 +00:00
cc06f07067
Major update including AP_Var support.
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Most of the compass functionality is now abstracted in a base class, with the various sub-classes implementing just their unique functionality.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1647 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:25:20 +00:00
8c76c8c936
Add code for auto magnetometer offset nulling.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1615 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-08 20:17:16 +00:00
5faadf4cd1
use memset rather than explicit assignments to zero to zero an array, this saves code space.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1340 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-28 23:32:37 +00:00
eb81becdb6
Pure virtual classes should declare pure virtual member functions as 0, rather than having the linker go looking for implementations elesewhere. This lets the compiler generate better error messages when a subclass fails to implement one or more required functions.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1339 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-28 23:31:58 +00:00
d5cc9946c5
AP_Compass - small change to include file used in example.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1152 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-18 04:48:52 +00:00
abacc627d8
AP_Compass - changed include for AP_Math to use relative path (it was erroring for me at least when compiling ArduCopterNG with AP_Compass)
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1113 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-12 14:02:21 +00:00
af741882c6
AP_Compass - moved example sketch from APM_Compass to AP_Compass
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1112 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-12 13:13:12 +00:00
963ee5843e
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1004 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-02 06:41:32 +00:00
b66b0f6cce
Fixed issues with AP_Compass
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1003 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-02 06:23:56 +00:00
729cf47b3c
needs some help
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1001 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-02 05:54:02 +00:00
559229a667
Added HIL and HMC5843 compass libs.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@998 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-02 05:19:38 +00:00
45ddbbf982
Updated compass library.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@995 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-02 05:13:12 +00:00
52ed7fac8c
corrections to imu and dcm libs, addition of vector member to compass class for magnetic vector
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@844 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-15 02:15:16 +00:00
11ccbb9ed7
added ground_course 0-36000 for Ardupilot
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@353 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-08-30 00:18:56 +00:00
2ca8ac7259
added ground_course in proper 0-360 degrees * 100 for Ardupilot
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@348 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-08-30 00:09:47 +00:00
cf7eefd94b
new Compass Lib
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@347 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-08-29 23:03:49 +00:00
Andrew Tridgell
murata
Peter Barker
Michael du Breuil
Mathieu OTHACEHE
Lucas De Marchi
Andy Little
Jonathan Challinger
Randy Mackay
José Roberto de Souza
Gustavo Jose de Sousa
Matt
dgrat
Ricardo de Almeida Gonzaga
Staroselskii Georgii
mirkix
Víctor Mayoral Vilches
Julien BERAUD
Aaron Wang Shi
Tom Pittenger
Caio Marcelo de Oliveira Filho
Paul Riseborough
mirkix
raspilot
Siddharth Bharat Purohit
Víctor Mayoral Vilches
Grant Morphett
Emile Castelnuovo
Andrew Tridgell
Markus Koetter
Craig Elder
LukeMike
Kevin Hester
Matthew Lloyd
Mike McCauley
Tobias
Christopher Hrabia
James Bielman
Pat Hickey
uncrustify
Adam M Rivera
Doug Weibel
James Goppert
unknown
tridge60@gmail.com
jasonshort
rmackay9@yahoo.com
deweibel@gmail.com
james.goppert
james.goppert@gmail.com
mich146@hotmail.com
DrZiplok@gmail.com
deweibel
DrZiplok