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289 Commits

Author SHA1 Message Date
Andrew Tridgell
4bc92b6373 AP_Compass: removed _product_id var 2015-03-13 18:59:52 +11:00
Andrew Tridgell
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
Andrew Tridgell
a871c87cad AP_Compass: use state array for compass variables 2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches
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
Víctor Mayoral Vilches
d3b76cd8d3 AP_Compass: split compass into frontend/backend 2015-03-13 18:46:15 +11:00
Andrew Tridgell
99ed508903 AP_Compass: change for new PX4 paths 2015-02-14 12:25:43 +11:00
Grant Morphett
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
Emile Castelnuovo
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
Randy Mackay
635ff92d6b Compass: fix example sketch 2015-01-28 17:15:39 +09:00
mirkix
9a65a8c8fb AP_Compass: add AK8963 to auto-detect in test suite 2015-01-22 14:34:23 +11:00
mirkix
e9d4165a8d AP_Compass: add AK8963 support to test suite 2015-01-22 14:34:17 +11:00
Staroselskii Georgii
c16eb5d330 AP_Compass: fixed corrections for AK8963 2015-01-09 06:38:22 +11:00
Staroselskii Georgii
4394f0cf75 AP_Compass: fixed external compass detection for AK8963 2015-01-09 06:38:22 +11:00
Staroselskii Georgii
f0753e965e AP_Compass: eliminated possible division by zero in AK8963 2015-01-09 06:38:22 +11:00
Staroselskii Georgii
b804430276 AP_Compass: changed default orientation for AK8963 on Navio 2015-01-09 06:38:22 +11:00
Andrew Tridgell
9835544163 AP_Compass: fixed build on non-Linux platforms 2015-01-07 08:41:14 +11:00
Staroselskii Georgii
0d1cf347c7 AP_Compass: added AK8963 support 2015-01-07 08:41:12 +11:00
Randy Mackay
ffbc3862bd Compass: update compass orient param description 
Update rotation 38 to Yaw293Pitch68Roll90
 2015-01-02 17:19:12 +09:00
Andrew Tridgell
a686494127 AP_Compass: fixed example build 2014-11-28 10:40:34 +11:00
Randy Mackay
20f3f19285 Compass: add new rotation to ORIENT param description 2014-11-22 14:13:25 +09:00
Staroselskii Georgii
7f00dd413f AP_Compass: fixed HMC5883's initialisation code 2014-11-14 10:21:04 +11:00
Randy Mackay
31087e4f20 Compass: shorten EXTERNAL2/3 to EXTERN2/3 
Bug discovered by Michael Day
 2014-11-08 10:21:22 +09:00
Andrew Tridgell
7db0244dac AP_Compass: added some comments 2014-10-19 17:02:45 +11:00
Jonathan Challinger
9054dd3f9a AP_Compass: use apply_correction_function to eliminate duplication 2014-10-19 17:02:45 +11:00
Andrew Tridgell
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
Randy Mackay
7caa611eb1 Compass_HIL: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Randy Mackay
86aac4f40c Compass_HMC5843: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Randy Mackay
900896977c Compass_VRBrain: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Randy Mackay
85e82a0399 Compass_PX4: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Randy Mackay
023b6afe8b Compass: add ORIENT2 and EXTERNAL2 params 2014-10-01 13:02:03 +10:00
Randy Mackay
16058cb730 Compass_VRBrain: primary compass based on use_for_yaw 2014-10-01 13:02:02 +10:00
Randy Mackay
01fa4ba619 Compass_PX4: primary compass based on use_for_yaw 2014-10-01 13:02:02 +10:00
Randy Mackay
798cc36e64 Compass: use_for_yaw for each compass 2014-10-01 13:02:02 +10:00
Randy Mackay
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
Randy Mackay
e14ae0c0b1 Compass: param descriptions for OFS2, MOT2 2014-09-27 17:59:26 +09:00
Randy Mackay
c2c5807ec7 Compass: always default devid to zero 2014-09-23 20:35:18 +09:00
Andrew Tridgell
9f6d1f987b AP_Compass: removed use of hrt_absolute_time() 2014-08-20 08:41:28 +10:00
Andrew Tridgell
41e65c2415 AP_Compass: fixed default orientation for PXF 2014-08-19 10:08:17 +10:00
Emile Castelnuovo
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
Andrew Tridgell
c49981c03d AP_Compass: fixed example build 2014-08-13 22:11:25 +10:00
Emile Castelnuovo
1092447360 AP_Compass_VRBrain: add support for two compasses 2014-07-23 20:51:12 +09:00
Emile Castelnuovo
4deafffb3e AP_Compass: VRBRAIN corrected function definition 
Add support for two compasses.
 2014-07-23 20:47:19 +09:00
Randy Mackay
a6c29ba1c3 Compass_PX4: get_primary made public 2014-07-22 22:01:23 +09:00
Randy Mackay
c16672a529 Compass_VRBrain: get_primary made public 2014-07-22 22:01:22 +09:00
Randy Mackay
d291594d7c Compass: get_primary method made public 2014-07-22 22:01:09 +09:00
Randy Mackay
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
Randy Mackay
47801a6c4d Compass: bug fix to init of device id 
Also init members to reduce compiler warnings
 2014-07-16 14:29:10 +09:00
Markus Koetter
701aa9ac4c AP_Compass: DEVIOCGDEVICEID is (currently) not defined in VRNuttX 2014-07-15 11:42:37 +10:00
Andrew Tridgell
1e20f89f90 AP_Compass: use HAL_COMPASS_DEFAULT in example code 2014-07-14 09:44:36 +10:00
Randy Mackay
bbf4805b0e Compass: update pixhawk expected device ids 2014-07-11 11:10:18 +09:00
Craig Elder
c9f3adcb5c Compass: Updated COMPASS_PRIMARY parameter description 2014-07-10 15:32:06 -07:00
Craig Elder
0ecd12b1c6 AP_Compass: Corrected typo in parameter description 
Corrected typo in parameter description
 2014-07-10 14:19:19 -07:00
Randy Mackay
4995b9ada8 Compass: default device id to zero 2014-07-10 20:25:36 +09:00
Randy Mackay
16d4af8346 Compass: sanity check instance in set_and_save_offsets 2014-07-10 20:25:32 +09:00
Randy Mackay
cf7e1a6339 Compass: example sketch update for set_and_save_offsets 2014-07-10 20:25:13 +09:00
Randy Mackay
a778522cef Compass: add learn_offsets_enabled accessor method 2014-07-10 20:25:11 +09:00
Randy Mackay
108c878b04 Compass: set_offsets modified to also save offsets 2014-07-10 20:25:08 +09:00
Randy Mackay
124bd4b489 Compass: save_offsets accepts compass instance 2014-07-10 20:25:05 +09:00
Randy Mackay
070f1c1bbb Compass: add dev_id for VRBrain 2014-07-10 20:24:49 +09:00
Randy Mackay
f42c9579d7 Compass: add dev_id for PX4 
dev_id is retrieved from PX4Firmware via ioctl call
 2014-07-10 20:24:46 +09:00
Randy Mackay
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
Andrew Tridgell
c138244155 AP_Compass: support 3 mags on PX4 2014-07-04 12:07:47 +10:00
Emile Castelnuovo
8f3a4bc88b VRBRAIN: correction to AP_Compass_VRBRAIN.cpp 2014-06-19 11:27:45 +02:00
LukeMike
8f552d5758 VRBRAIN: Changed the management of VirtualRobotix's boards. 2014-06-19 11:27:38 +02:00
Andrew Tridgell
e9e1799700 AP_Compass: fixed VRBrain build 2014-06-02 10:42:37 +10:00
Andrew Tridgell
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
Jonathan Challinger
e883b889b6 SITL: Add compassmot interference 2014-05-15 21:14:20 +10:00
Kevin Hester
b7bed437c2 Compass: fixup line endings 2014-04-15 15:56:57 +09:00
Emile Castelnuovo
1bc199c5bd AP_Compass: new files and definition for VRBRAIN board 2014-04-08 16:19:19 +10:00
Andrew Tridgell
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
Matthew Lloyd
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
Andrew Tridgell
db48ed9218 AP_Compass: fixed showing of is_external for 2nd compass 2014-03-13 16:26:43 +11:00
Andrew Tridgell
cf148fa76c AP_Compass: improved COMPASS_ORIENT and COMPASS_EXTERNAL for Pixhawk 2014-02-27 12:46:27 +11:00
Andrew Tridgell
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
Andrew Tridgell
9bb8f73d56 Compass: split compass learning out to its own C++ file 2014-02-16 13:21:06 +11:00
Andrew Tridgell
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
Andrew Tridgell
bc2d17e76e AP_Compass: added vector compass setHIL method 2013-12-30 14:35:24 +11:00
Andrew Tridgell
c44d8b45ce AP_Compass: auto-select healthy compass 2013-12-09 20:01:42 +11:00
Andrew Tridgell
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
Andrew Tridgell
0a7a935f63 AP_Compass: fixup 2013-12-09 17:54:54 +11:00
Andrew Tridgell
c538816825 AP_Compass: support compass health status on multiple compasses 2013-12-09 17:46:41 +11:00
Andrew Tridgell
bde89fd4e2 AP_Compass: added compass offsets for 2nd compass 2013-12-09 17:34:07 +11:00
Andrew Tridgell
8a97042fb1 AP_Compass: updates to support multiple compasses 2013-12-09 17:34:07 +11:00
Andrew Tridgell
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
Randy Mackay
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
Andrew Tridgell
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
Andrew Tridgell
f286369990 AP_Compass: fixed orientation on Linux 2013-10-08 11:50:54 +11:00
Andrew Tridgell
83c942a512 AP_Compass: prevent NULL deref on enable mag while running 2013-10-08 11:50:53 +11:00
Andrew Tridgell
da14ad2e2d AP_Compass: neaten up HMC5883 debug 2013-09-28 21:24:02 +10:00
Andrew Tridgell
ce7d458855 AP_Compass: added Linux support to the compass test 2013-09-28 21:24:02 +10:00
Andrew Tridgell
6fc5b06043 AP_Compass: fixed some old Serial.print calls 2013-09-28 21:24:02 +10:00
Andrew Tridgell
1243ab9e63 AP_Compass: added HAL_Linux support 2013-09-28 21:24:02 +10:00
Andrew Tridgell
3f0f8dfa62 AP_Compass: removed SMACCM support 2013-09-26 22:38:31 +10:00
Mike McCauley
2fa0c39f3a AP_Compass: added Flymaple orientation 2013-09-24 13:18:35 +10:00
Mike McCauley
4c65c42411 AP_Compass: fixed ARM 32 bit compatibility 2013-09-23 18:10:21 +10:00
Andrew Tridgell
229841052a AP_Compass_PX4: removed MAGIOCSSAMPLERATE call 2013-09-09 18:04:41 +10:00
Andrew Tridgell
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
Andrew Tridgell
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
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