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
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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
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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
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
d192b3ccea
Compass: set device id for ak8963 and hmc5843
2015-07-06 21:04:46 +09:00
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
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
7b51c907f5
AP_Compass: zero some more variables in constructor and init
2015-03-13 19:22:11 +11:00
0efd3bacea
AP_Compass: make new backend match old PX4 behaviour
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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
7f00dd413f
AP_Compass: fixed HMC5883's initialisation code
2014-11-14 10:21:04 +11:00
9054dd3f9a
AP_Compass: use apply_correction_function to eliminate duplication
2014-10-19 17:02:45 +11:00
86aac4f40c
Compass_HMC5843: use instance specific orient and external
2014-10-01 13:02:03 +10:00
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
61f564d7c9
AP_Compass: support motor compensation for multiple compasses
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Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-12-09 19:45:31 +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
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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
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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
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this prevents 5ms delays in compass accumulate
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
6fc5b06043
AP_Compass: fixed some old Serial.print calls
2013-09-28 21:24:02 +10:00
4c65c42411
AP_Compass: fixed ARM 32 bit compatibility
2013-09-23 18:10:21 +10:00
fbf79c07f0
AP_Compass: added COMPASS_EXTERNAL option
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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
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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
217f34e155
AP_Compass: added COMPASS_ORIENT parameter, to support external compasses
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this allows the user to configure the compass for any orientation
supported by our rotation library
2013-05-02 12:48:14 +10:00
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
bfb29ce22b
Compass: remove virtual functions to save RAM
2013-03-02 00:07:32 +09:00
d8515ff85e
Compass: basic compensation for motor interference
2013-03-02 00:03:16 +09:00
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.
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- Guard I2C transactions with this semaphore in the MS5611 and
HMC5843 drivers.
2013-01-04 15:43:43 -08:00
b70f7f57ba
AP_Compass: restore low speed change on register read failure
2012-12-20 14:51:37 +11:00
53432a1101
AP_Compass: ported to AP_HAL
2012-12-20 14:51:26 +11:00
daa4712078
AP_Compass: force I2C speed low in a couple more situations
2012-11-12 11:26:20 +11:00
6922dcdea2
Compass: added compass.accumulate() API
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this allows us to accumulate mag readings using spare CPU cycles
2012-09-08 10:05:54 +10:00
4f9c6bbb19
uncrustify libraries/AP_Compass/AP_Compass_HMC5843.cpp
2012-08-21 19:01:20 -07:00
7daaadf776
Compass: fixed the order of rotations in the compass driver
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this should fix the massive heading issues that people have been
reporting. Please test!
2012-03-12 17:33:15 +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
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
...
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
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".
...
Modified FastSerial's write function to return size_t (number of bytes written).
2012-01-28 12:25:47 +09:00
60185509f4
AP_Compass: when I2c fails, don't retry for 1s
2012-01-04 16:35:47 +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
0bf026e6ad
Compass: added a gain multiplier
...
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
...
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
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
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
...
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
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
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2699 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-28 16:30:42 +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
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
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
Staroselskii Georgii
Lucas De Marchi
Gustavo Jose de Sousa
Randy Mackay
Tom Pittenger
Andrew Tridgell
Víctor Mayoral Vilches
Víctor Mayoral Vilches
Jonathan Challinger
Andrew Tridgell
Mike McCauley
Christopher Hrabia
James Bielman
Pat Hickey
uncrustify
tridge60@gmail.com
rmackay9@yahoo.com
james.goppert
DrZiplok@gmail.com
deweibel
jasonshort