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378 Commits

Author SHA1 Message Date
Lucas De Marchi
86b3312112 AP_Compass: AK8963: factor out common code of read_raw() 
Similar code was added in the read_raw() implementation for each bus.
Add a new POD struct read_raw to contain the registers from the AK8963
and use it instead as argument.
 2015-07-23 17:44:33 +10:00
dgrat
d941174978 AP_Compass: AK8963: enhance the readability 
Reduce the deepness of indentation and fix coding style.
 2015-07-23 17:44:33 +10:00
Lucas De Marchi
fd5d25b1d5 AP_Compass: use ARRAY_SIZE macro 2015-07-21 14:25:17 +09:00
Randy Mackay
cedc9a8670 Compass: add last_update_usec per instance 2015-07-17 10:02:41 +09:00
Julien BERAUD
51c3c499e2 AP_Compass: support AK8963 on I2C 2015-07-10 16:46:30 +10:00
Julien BERAUD
0b41da0dea AP_Compass: rework to make the bus generic for AK8963 
Supporting only MPU9250, prepare to implement another bus, i.e i2c on the
bebop
 2015-07-10 16:46:29 +10:00
Julien BERAUD
0cd584c293 AP_Compass: fix rotation for bebop AK8963 
Set the correct rotation for bebop
 2015-07-10 16:46:29 +10:00
Julien BERAUD
7dd0b5fae6 AP_Compass: removed _spi_sem and _spi 2015-07-10 16:46:29 +10:00
Andrew Tridgell
c83d5b1f08 AP_Compass: only build AK8963 driver on Linux 
must match MPU9250 build
 2015-07-09 11:57:27 +10:00
Randy Mackay
d192b3ccea Compass: set device id for ak8963 and hmc5843 2015-07-06 21:04:46 +09:00
dgrat
f56f584233 Compass: Improved field rounding in learning 
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
 2015-07-06 11:31:58 +10:00
Lucas De Marchi
1deb837e70 AP_Compass: Use common function in MPU9250 for initialization 2015-07-06 10:48:07 +10:00
Staroselskii Georgii
26c8007c96 AP_Compass: updated backend detect method 
Uses reimplemented AK8963 driver. There's also no need trying to detect this
compass twice. Actually, it might even be bad, because the current code can
allocate an AK8963 object twice.
 2015-07-06 10:48:06 +10:00
Staroselskii Georgii
7a417d1151 AP_Compass: AK8963 rework 
Got rid of extra abstraction layer. There is no need for that now.
 2015-07-06 10:48:06 +10:00
Randy Mackay
43b1694c76 Compass: add third compass to PRIMARY param description 2015-07-02 14:19:30 +09:00
Andrew Tridgell
5b0394eb05 AP_Compass: start MPU9250 driver at low speed 
this raises the chances of successful init of the MPU9250
 2015-07-02 08:48:06 +10:00
Andrew Tridgell
d6a1bd98e6 AP_Compass: convert example from .pde to .cpp 2015-06-01 16:58:11 +10:00
Andrew Tridgell
edc21cfa38 AP_Compass: make having no compass backends non-fatal 
thanks to Daniel for spotting this
 2015-05-26 14:23:40 +10:00
Lucas De Marchi
95627cf412 AP_Compass: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:52 +10:00
Andrew Tridgell
2475ee9630 AP_Compass: setup HIL/SITL for two compasses 2015-05-16 07:06:04 +10:00
Andrew Tridgell
91b4ba3588 AP_Compass: allow for more than one compass in HIL/SITL 2015-05-15 14:25:44 +10:00
Randy Mackay
ade4f81c77 Compass: fix example sketch 2015-05-15 11:53:28 +09:00
Andrew Tridgell
015fce5183 AP_Compass: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Tom Pittenger
d09ef4783d AP_Compass: compiler warnings: reorder constructors 2015-05-05 13:26:52 +10:00
Tom Pittenger
ad11a57f57 AP_Compass: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:51 +10:00
Andrew Tridgell
be3d6c924e AP_Compass: rename enum values to avoid header conflicts for 'ERROR' 2015-05-05 09:45:53 +10:00
Tom Pittenger
16e71ec1ce Compass: fix compile warning re member init order 2015-04-24 14:15:00 +09:00
Tom Pittenger
bf1d128d70 Compass: fix compile warnings re float constants 
Also fix example sketch
 2015-04-24 12:29:07 +09:00
Andrew Tridgell
dcb25632fb AP_Compass: removed old setHIL compass offset 2015-04-21 08:30:05 +10:00
Andrew Tridgell
d7000c4105 AP_Compass: fixed compass timestamps in Replay 2015-04-20 15:12:51 +10:00
Lucas De Marchi
996739df12 AP_Compass: Do not panic if compass is not found 
Copter uses 2 compasses for linux configuration, but one of them may not
be available. Do not panic if a AK8963 isn't found.
 2015-04-14 09:29:12 +10:00
Andrew Tridgell
c8b0970e61 AP_Compass: show compass count in example 2015-03-14 20:00:29 +11:00
Andrew Tridgell
f4455d063e AP_Compass: fixed example 2015-03-14 17:07:39 +11:00
Andrew Tridgell
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
Andrew Tridgell
86fc90f54c AP_Compass: removed spurious rotation in PX4 backend 
and cleanup rotation macros
 2015-03-14 08:52:37 +11:00
Andrew Tridgell
d7bac39539 AP_Compass: removed two unused functions 2015-03-14 08:52:37 +11:00
Andrew Tridgell
fec2025469 AP_Compass: added set_hil_mode() 2015-03-13 22:52:55 +11:00
Andrew Tridgell
8f6982860f AP_Compass: fixed devid for 2nd compass 2015-03-13 20:46:32 +11:00
Andrew Tridgell
7b51c907f5 AP_Compass: zero some more variables in constructor and init 2015-03-13 19:22:11 +11:00
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
Andrew Tridgell
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
Andrew Tridgell
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
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
Tobias
ab311d1dd4 AP_Compass: removed comparison out of range compiler warning 
uint_ >= 0 (-Wtype-limits)
 2013-07-08 14:57:25 +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
Andrew Tridgell
4007b7b1e9 AP_Compass: fixed indent-tabs-mode 2013-05-30 09:52:30 +10:00
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
c90d44c121 AP_Compass_HIL: fixed indentation 2013-05-02 21:31:17 +10:00