Commit Graph

48 Commits

Author SHA1 Message Date
Andrew Tridgell 9320e82ac2 AP_Compass: added in new orientations 2013-08-30 14:19:03 +10:00
Andrew Tridgell fbf79c07f0 AP_Compass: added COMPASS_EXTERNAL option
this allows configuring of a compass as being externally attached
2013-08-30 14:02:09 +10:00
Andrew Tridgell 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
Andrew Tridgell a6c7bd3612 AP_Compass: fixed rotations for COMPASS_ORIENT
this matches AHRS_ORIENTATION again
2013-07-08 12:17:59 +10:00
Craig@3DR 1a3ed2d80b AP_Compass: Corrected COMPASS_ORIENT Parameter Description 2013-06-26 19:14:24 -07:00
Randy Mackay 80bd458f29 Compass: update parameter description
We do not want people modifying the COMPASS_MOTCT manually
2013-05-11 14:50:36 +09:00
Andrew Tridgell 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
Andrew Tridgell 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
Andrew Tridgell 217f34e155 AP_Compass: added COMPASS_ORIENT parameter, to support external compasses
this allows the user to configure the compass for any orientation
supported by our rotation library
2013-05-02 12:48:14 +10:00
Andrew Tridgell 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
Andrew Tridgell 26fa5c40f1 Compass: use const references for some functions 2013-04-22 13:26:49 +10:00
Randy Mackay b48864e1ad Copter: allow CH6 tuning of compass declination 2013-04-15 21:50:44 +09:00
Randy Mackay b8d492b504 Compass: current based compensation added 2013-03-03 23:02:12 +09:00
Randy Mackay 886725291c Compass: enable motor compensation for 1280
Expand motor compenstion vector's range limit
2013-03-02 00:03:29 +09:00
Randy Mackay d8515ff85e Compass: basic compensation for motor interference 2013-03-02 00:03:16 +09:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles.
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
rmackay9 bf77a0f2e4 AP_Compass: added parameter descriptions 2013-01-02 16:08:44 +09:00
Andrew Tridgell a180437028 AP_Compass: disable auto-declination on 1280
this saves a few k of flash space
2012-12-20 14:53:23 +11:00
Andrew Tridgell c181498e36 Compass: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Pat Hickey 53432a1101 AP_Compass: ported to AP_HAL 2012-12-20 14:51:26 +11:00
uncrustify 7840eebaef uncrustify libraries/AP_Compass/Compass.cpp 2012-08-21 19:01:20 -07:00
rmackay9 9b3ced93ee AP_Compass: fix for mismatching set_initial_location parameters (forgot to change long to int32_t in .cpp file) 2012-08-18 20:41:38 +09:00
Andrew Tridgell 518d6365ff AP_Param: update remaining libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
Andrew Tridgell e4d28b12e5 Compass: remove the need to call calculate() on the compass object
the new AHRS code doesn't use calculate() and the compass.heading
attribute. Instead it works on the raw magnetometer vector. This
change removes the internal calculate state from the compass object
and instead adds calculate_heading() for use by older code that
doesn't go via AHRS.

This significantly reduces the calculation involved in compass updates

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

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

Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Andrew Tridgell 0da64e98f8 Compass: don't save the orientation to EEPROM
there is no point in saving this, the value is only configurable at
compile time for now, and is always set
2012-03-11 15:37:07 +11:00
Andrew Tridgell cb96dd975f Compass: update the compass driver to use the new vector.rotate() method 2012-03-11 15:37:07 +11:00
rmackay9 fa34ac076e AP_Compass - fixed compile warning 2012-02-29 22:57:35 +09:00
rmackay9 c819a0f68a AP_Compass - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:45:49 +09:00
Andrew Tridgell d0a6359b37 Compass: use constructor to set initial values for _learn and _use_for_yaw
this ensures they are set if you have MAG_ENABLE==0
2012-02-25 17:36:31 +11:00
Andrew Tridgell 664622523d Compass: added COMPASS_LEARN and COMPASS_USE parameters
these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.

The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
2012-02-25 14:51:08 +11:00
Andrew Tridgell c354879f1f Compass: ensure we don't produce NAN values for compass heading
this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
2012-02-24 11:52:55 +11:00
Andrew Tridgell 9c5a5473ab added indexes to group info structures 2012-02-13 16:22:52 +11:00
Andrew Tridgell bf4a77da81 convert libraries to new typesafe macros 2012-02-13 16:22:51 +11:00
Andrew Tridgell 8c58d95187 modify the compass code for AP_Param 2012-02-13 16:22:51 +11:00
Doug Weibel 9846822748 Bug fix for compass.
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
Andrew Tridgell acf4e9b61d I2C: convert compass code to new I2C library
this also adds a healthy attribute, and error checking on all I2C
calls
2011-12-28 20:41:53 +11:00
jasonshort 0d31d9be10 Added a limit to the atan function to calc the heading. Just trying to avoid, bad values screwing up the DCM. - Jason
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2777 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-08 03:56:04 +00:00
rmackay9@yahoo.com 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
deweibel@gmail.com b5f0635455 Add an alternate compass.calculate() function substituting 1 sqrt func for 4 trig funcs.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2221 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-08 18:15:29 +00:00
jasonshort b81d2ef753 added names to output in show
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1698 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-20 03:46:18 +00:00
jasonshort b6245b471a Added accessors declination.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1677 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 03:57:53 +00:00
DrZiplok@gmail.com cc06f07067 Major update including AP_Var support.
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