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
...
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
...
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
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
62326c0f72
Compass: enable compass offsets for HIL compass
...
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".
...
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
...
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
Randy Mackay
Andrew Tridgell
Emile Castelnuovo
Markus Koetter
Craig Elder
LukeMike
Jonathan Challinger
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