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623 Commits

Author SHA1 Message Date
Peter Barker
b39da462ec AP_Compass: use HAL_SEMAPHORE_BLOCK_FOREVER macro 2017-05-08 10:23:03 +09:00
Andrew Tridgell
45f27ceb9c AP_Compass: rename macros to avoid conflicts 
these macros were also defined in NuttX in clock.h
 2017-05-06 15:21:14 +10:00
Eugene Shamaev
b3d9126407 AP_Compass: removal of legacy UAVCAN support 2017-04-17 17:27:18 +10:00
Pierre Kancir
d3e27d8720 AP_Compass: example fix travis warning 
missing function declaration
implicit cast
some style fix
 2017-04-13 19:56:16 +01:00
Eugene Shamaev
3e044c7b8a AP_Compass: support for UAVCAN connected magnetometers 2017-04-10 22:38:12 +01:00
Andrew Tridgell
ee2afd3242 AP_Compass: added COMPASS_OFFS_MAX 
this allows setup of airframes with hatch magnets
 2017-04-04 00:49:34 +01:00
Lucas De Marchi
5787b5a5c5 AP_Compass: IST8310: rename macros 
Having "BIT" in the name gives the impression we are using the macro is
the bit position; however they have the values for those actions, not
the bit position. Rename BIT to VAL to be less confusing.
 2017-03-24 12:06:19 +11:00
Lucas De Marchi
4bba643abb AP_Compass: IST8310: use variable periodic callback 
This is the equivalent of sleep and wait for the conversion time,
after had triggered a new sample request. However it also has the added
benefits of sharing a thread with other sensors on the same bus.

Now we don't read the status register anymore since we have a guaranteed
wait time.
 2017-03-24 12:06:19 +11:00
Lucas De Marchi
ce1a13aa8f AP_Compass: IST8310: use FSR to reject samples 2017-03-24 12:06:19 +11:00
Lucas De Marchi
d84851d8fa AP_Compass: IST8310: improve initialization 
- Make sure device is reset while initializing.
 - Give better names to register macros
 - Average X, Y and Z by 16: sensor is internally running at 200 sps
   (theoretical, ~160 pratical). The wait time is ~6msec averaging
   by 16. We do 10msec.
 2017-03-24 12:06:19 +11:00
Tom Pittenger
c0691afc1f AP_Compass: reject outlier data in IST8310 data by detecting >14bit data 2017-03-24 12:06:19 +11:00
Tom Pittenger
8415fde697 AP_Compass: IST8310 chip does not follow right-hand rule format, flip z 2017-03-24 12:06:19 +11:00
Lucas De Marchi
b339050e45 AP_Compass: IST8310: account for errors in measurment requests 
If we don't recover for errors in the request for new sample, we may get
stuck with no sample anymore. Recover from bad transfers.
 2017-03-24 12:06:19 +11:00
Lucas De Marchi
156efd6fec AP_Compass: use IST8310 for aerofc 2017-03-24 12:06:19 +11:00
Andrew Tridgell
37c9e08316 AP_Compass: support AUAV21 board 2017-03-01 17:24:10 +11:00
Jacob Walser
7121910fa7 AP_Compass: Set default learn parameter to disabled for Sub 2017-02-21 11:26:14 +11:00
murata
bc7b2144e7 AP_Compass: Change from magic number 0 to definition name. 2017-02-18 14:12:36 +00:00
Lucas De Marchi
dd98fc75a9 AP_Compass: BMM150: fix sampling time 
We configure the sensor with an ODR of 30 Hz. There's no need to keep
calling the update function at 100Hz.
 2017-02-11 01:37:49 -08:00
Andrew Tridgell
64a8f00a77 AP_Compass: disable esoteric compass drivers on FMUv2 2017-01-29 16:31:06 +11:00
murata
af47a8e91c AP_Compass: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Randy Mackay
855125381d AP_Compass: relax compass cal fitness and consistency checks 2017-01-27 11:20:02 +09:00
Randy Mackay
53d1585ebf Compass: relax compass consistency checks for pixracer 2017-01-21 12:10:00 +09:00
Randy Mackay
0c4e3cd8e4 Compass: pixracer calibration fitness default relaxed 2017-01-21 10:15:11 +09:00
Andrew Tridgell
58a0a6a2fc AP_Compass: disable lis3mdl for now 
pending investigation of possible hw error
 2017-01-14 12:40:04 +11:00
Lucas De Marchi
5472bc4de1 Global: change Device::PeriodicCb signature 
Remove bool return as it's never being used and not supported on PX4.
 2017-01-14 10:03:54 +11:00
murata
a2649949df AP_Compass: Changed if statements to switch statement. 2016-12-19 22:28:34 +00:00
Andrew Tridgell
790d186c6c AP_Compass: switched to unified Invensese driver for AK8963 2016-12-16 12:31:34 +11:00
Andrew Tridgell
a440ac4c9d AP_Compass: use a set_and_notify for external and IDs 
ensure that GCS that connects quickly gets the right value
fixes issue #5364
 2016-12-09 14:36:01 -08:00
Lucas De Marchi
899fce53ff AP_Compass: IST8310: minor fixes and refactors 
- Inline code that needs to take and release the lock in init()
    function, just like other drivers
  - Minor changes to coding style and renames to be similar to other
    drivers
 2016-12-09 10:08:37 -08:00
Georgii Staroselskii
f061572e13 AP_Compass: add IST8310 support 
One needs to specify I2C address and a bus number in AP_Compass.cpp to use it.
 2016-12-09 10:08:37 -08:00
Pierre Kancir
385e5badd8 Ap_Compass: LIS3MDL fix order 2016-12-06 09:31:21 -08:00
Pierre Kancir
c49c851a57 Ap_Compass: AK09916 fix order 2016-12-06 09:31:21 -08:00
Andrew Tridgell
a1bce2b54d AP_Compass: use get_random16() 2016-12-02 09:49:38 +11:00
Andrew Tridgell
4f1f6ec019 AP_Compass: added retries during init for i2c devices 
higher in init, lower for run
 2016-12-02 09:47:51 +11:00
Georgii Staroselskii
865ff753f3 AP_Compass: use LSM9DS1 as primary for Navio 2 
This compass has been proved to work better on Navio boards. Users also
don't like high offsets (even though, they don't really mean much in
this context) reported by AK8963 in MPU9250 on Navio 2.
 2016-11-30 12:04:53 -08:00
Alexey Bulatov
96db31635d AP_Compass: set orientation ROLL_180 for LSM9DS1 on Navio2 2016-11-30 12:04:04 -08:00
Alexey Bulatov
163fa07ac0 AP_Compass: make orientation of LSM9DS1 compass configurable 2016-11-30 12:02:07 -08:00
Randy Mackay
5009e83b6d AP_Compass: fix build warning for HMC5843 2016-11-30 18:00:12 +09:00
Andrew Tridgell
28b3de91cf AP_Compass: fixed orientation of internal i2c compass for FMUv1 
thanks to Peter for noticing
 2016-11-28 13:02:15 +11:00
Andrew Tridgell
7d57f00ca0 AP_Compass: removed debug line 
this is now common when using in-tree drivers
 2016-11-25 18:23:53 +11:00
Andrew Tridgell
f62972d966 AP_Compass: fixed build on bhat 
enable both compasses if found
 2016-11-25 17:50:24 +11:00
Andrew Tridgell
1f403b02ef AP_Compass: switch to continuous 155Hz mode for LIS3MDL 2016-11-25 17:50:24 +11:00
Andrew Tridgell
62805f59fa AP_Compass: added AK09916 driver 
yet another magnetometer!
 2016-11-25 17:50:24 +11:00
Andrew Tridgell
17a117b324 AP_Compass: be a bit less verbose in startup 2016-11-25 17:50:23 +11:00
Andrew Tridgell
0e4b8781b2 AP_Compass: auto-detect LIS3MDL compass 2016-11-25 17:50:23 +11:00
Andrew Tridgell
b6b2919126 AP_Compass: don't panic on too many compasses 
just use the first ones found. Panicing because you have too many
isn't useful
 2016-11-25 17:50:23 +11:00
Andrew Tridgell
40ef68f104 AP_Compass: added a LIS3MDL compass driver 2016-11-25 17:50:23 +11:00
Lucas De Marchi
c6b0a71c47 AP_Compass: Calibrator: use inplace initializer on array 2016-11-18 20:03:30 -02:00
Siddharth Bharat Purohit
b36ee10e7c AP_Compass: fix wrong memset in compass calibrator 2016-11-18 20:03:30 -02:00
Andrew Tridgell
e4454c5056 AP_Compass: setup for new PX4 board IDs 2016-11-11 08:08:55 +11:00
Andrew Tridgell
0eac781559 AP_Compass: don't run the AK8963 on the external MPU9250 
this saves us one mag slot for another external mag, and leaves the
primary MPU9250 undisturbed by the mag traffic on the bus
 2016-11-10 13:05:22 +11:00
Andrew Tridgell
3d5c57c5dc AP_Compass: fixed orientation of PH2 in-tree compass drivers 2016-11-10 11:44:52 +11:00
Andrew Tridgell
4ba00720aa AP_Compass: make init() private 
not called from frontend
 2016-11-10 11:44:52 +11:00
Andrew Tridgell
c68a6451cb AP_Compass: use in-tree drivers for PH2SLIM 2016-11-10 11:44:52 +11:00
Andrew Tridgell
4602b4d679 AP_Compass: improve init and calibration of hmc5843 2016-11-09 17:08:15 +11:00
Andrew Tridgell
3d48a72f59 AP_C0mpass: switch pixracer to always use in-tree drivers 2016-11-09 17:08:14 +11:00
Andrew Tridgell
b363a65c2e AP_Compass: enable in-tree drivers for PHMINI 2016-11-09 17:08:13 +11:00
Andrew Tridgell
875fa60452 AP_Compass: fixed external I2C HMC5983 rotation on pixhawk 2016-11-09 17:08:11 +11:00
Andrew Tridgell
bd8867be38 AP_Compass: cope with NULL dev pointer in driver probe functions 2016-11-09 17:08:11 +11:00
Andrew Tridgell
3b53caad87 AP_Compass: keep old hmc5843 ID 
prevent re-use. thanks to Lucas
 2016-11-09 17:08:10 +11:00
Andrew Tridgell
02c2ba1331 AP_Compass: fixed dup semaphore bug 
thanks to Lucas for spotting this!
 2016-11-09 17:08:10 +11:00
Andrew Tridgell
f31a017ace AP_Compass: changes to HMC5843 driver 
this makes the HMC5843 use single-shot mode, which makes it more
robust to bus resets. It also adds WHOAMI checking and enables
automatic temperature compensation.

Unfortunately this makes existing calibration values incompatible, so
a re-cal is required. The device ID has been changed to reflect the
driver change.
 2016-11-09 17:08:10 +11:00
Andrew Tridgell
05769640d1 AP_Compass: support rotations on AK8963 2016-11-09 17:08:08 +11:00
Andrew Tridgell
2716ab8408 AP_Compass: added support for per-instance rotations 2016-11-09 17:08:08 +11:00
Andrew Tridgell
fac895b0e6 AP_Compass: setup read flag for SPI transfers 2016-11-09 17:08:08 +11:00
Andrew Tridgell
147b253e65 AP_Compass: make device IDs match PX4 drivers 
match in-tree drivers to PX4Firmware drivers
 2016-11-09 17:08:06 +11:00
Andrew Tridgell
de7913e8e9 AP_Compass: implement device IDs for compass drivers 2016-11-09 17:08:04 +11:00
Andrew Tridgell
ac0ea12b42 AP_Compass: enable HMC5843 on SPI for PH2 2016-11-09 17:08:03 +11:00
Andrew Tridgell
1c631ea037 AP_Compass: cleanup use of backend semaphores 
fixed drivers that didn't protect accumulation counters
 2016-11-09 17:08:01 +11:00
Andrew Tridgell
9afd51350e AP_Compass: use thread per bus in more drivers 
and removed use of timer suspend
 2016-11-09 17:08:01 +11:00
Andrew Tridgell
974827aa82 AP_Compass: enabled AK8963 on PX4 2016-11-09 17:08:01 +11:00
Andrew Tridgell
2e4151d14e AP_Compass: enable lsm303d mag on FMUv2 2016-11-09 17:08:00 +11:00
Andrew Tridgell
36190ba545 AP_Compass: use thread per bus for lsm303d mag 2016-11-09 17:08:00 +11:00
Andrew Tridgell
7bd52eb112 AP_Compass: allow for in-tree drivers for PX4 2016-11-09 17:07:58 +11:00
Andrew Tridgell
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
murata
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
Peter Barker
e4001e67e2 AP_Compass: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Michael du Breuil
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
Mathieu OTHACEHE
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
Peter Barker
216a6493c9 AP_Compass: AP_Compass_LSM9DS1: remove unused variable 2016-10-24 08:57:56 -02:00
Lucas De Marchi
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
Andy Little
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
Andrew Tridgell
36ea946cf5 AP_Compass: use board defined compass ofs max in calibrator 2016-09-23 10:53:00 +10:00
Jonathan Challinger
17fb7dc88f AP_Compass: initialize offset before beginning sphere fit 2016-09-23 10:52:51 +10:00
Jonathan Challinger
419f1bc00e AP_Compass: change fixed point format for more range 2016-09-23 10:52:46 +10:00
Jonathan Challinger
0652d71a72 AP_Compass: correct wrapping behavior in conversion to fixed point 2016-09-23 10:52:44 +10:00
Andrew Tridgell
f82827ce79 AP_Compass: removed disco special compass offsets 
not needed any more with newer hardware
 2016-09-14 19:06:06 +10:00
Randy Mackay
ba5db0c5d8 Compass: add CAL_FIT parameter description values 
No functional change
 2016-09-14 09:57:52 +09:00
José Roberto de Souza
13287f61e3 AP_Compass: Make COMPASS_AERO probe BMM150 2016-09-03 01:03:17 -03:00
Gustavo Jose de Sousa
b259356703 AP_Compass: BMM150: convert it to use Device periodic callback 2016-09-03 01:03:07 -03:00
Lucas De Marchi
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
Matt
9eca21c26a AP_Compass: Removed duplicate code 2016-08-29 10:38:41 -03:00
Lucas De Marchi
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
Lucas De Marchi
c6edae7e8e Revert "Global: workaround toolchain problem on windows" 
This reverts commit 4e2b30b413.

The toolchain for windows is now updated, we can remove this workaround.
 2016-07-25 17:56:12 -03:00
Andrew Tridgell
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
Lucas De Marchi
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
Lucas De Marchi
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
José Roberto de Souza
6e53854122 AP_Compass: Add BMM150 backend 2016-07-06 10:03:30 -03:00
Lucas De Marchi
9ccce2c980 AP_Compass: explicitely add compasses for erlebrain2, pxf and pxfmini 2016-05-18 18:24:14 -03:00
Lucas De Marchi
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