And to the detection probe() method. That way we don't need to use a board
`#ifdef` inside the class code. Additionally, we make raspilot board use it.
Initialization was also changed a little bit so we don't try to
initialize 25 times. We rather use the same methods as in the
AP_InertialSensor drivers.
Also move up the call to is_zero() in read_raw so we don't set
_mag_[x|y|z] in case of failure.
These are not used. The only place where raw fields are used are in the
compass calibrator and we don't need to store them.
Additionally remove duplicated documentation about the meaning of the
functions to avoid them getting out of sync.
We still need the BusDriver (in some places called SerialBus) interface
since this driver can also be used on an AuxiliaryBus and that has a
different interface.
- Capitalize and rename constants
- Make clear what gain is applied in calibration and what is the
"normal" gain
- Make the separation between HMC5883L and HMC5843 explicit when it
makes sense to improve readability
- Remove spurious delay in calibrate function
We still need the BusDriver (in some places called SerialBus) interface
since this driver can also be used on an AuxiliaryBus and that has a
different interface.
Besides the usual conversion some more improvements:
- Use generic function to convert endianness
- Minor cleanups
- Reorder per-board ifdefs in compass instantiation: distinguish when
there's a default compass to when it should probe other compasses
In file included from /home/lucas/p/dronecode/ardupilot/libraries/AP_Compass/Compass.h:6:
/home/lucas/p/dronecode/ardupilot/libraries/AP_Compass/CompassCalibrator.h:86:5: warning: struct 'param_t' was previously declared as a class [-Wmismatched-tags]
struct param_t _params;
^
/home/lucas/p/dronecode/ardupilot/libraries/AP_Compass/CompassCalibrator.h:44:11: note: previous use is here
class param_t {
^
/home/lucas/p/dronecode/ardupilot/libraries/AP_Compass/CompassCalibrator.h:86:5: note: did you mean class here?
struct param_t _params;
^~~~~~
Not having data ready during initialization is normal. Don't print error
message since it can mislead people to think the compass was not
initialized successfully.
This is the only driver doing this, using the system_initializing() from
scheduler to log selectively. Remove the check together with removal of
unused wrapper methods to semaphore.
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.
In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
For all supported boards the maximum number of instances is 3. The
number of HIL_COMPASSES was already defined as 2 instead of 3, so this
is left as before.
We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
COMPASS_MAX_INSTANCES and COMPASS_MAX_BACKEND constant for all supported
boards.
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
offset parameter units are milligauss
User settable parameters should have a User category defined. Those that should never be set by a user should not have this.
The function rotate_field() can change the values axes and the function
correct_field() applies offsets (which are already in milligauss). Thus any
sensitivity adjustment must be done for two reasons:
(1) The offsets must be applied to the values already in milligauss;
(2) The factory sensitivity adjustment values are per axis, if any rotation
that switches axes is applied, that'll mess with the adjustment.
Experiments showed that before this patch the length of the mag field reported
quite different from the expected. After this patch, the same experiments
showed reasonable values.
This is part of the transition to make all mag field values be used in
milligauss. Additionally the value of _gain_multiple is adapted to the new way
we're using it and corrected accordingly to the datasheets.
The use of _gain_multiple is not necessary because the values of
expected_{x,yz} and _mag_{x,y,z} are both in sensor raw unit (i.e., lsbs).
That wasn't fixed before in order not to make APM users to recalibrate their
compasses.
the previous approach assumed a 1:1 mapping between compass backends
and compass instances, which isn't true on PX4.
It also only setup milligauss offsets on a set_and_save call, which is
not the only way offsets change
this adds a milligauss_ratio per instance, which is considerably
simpler
AK8963 is configured in 16-bit ADC mode which implies sensitivity of 0.15 uT/LSb. Knowing this fact we can convert the measurements to the proper units. The change will make users recalibrate their compasses.
From now on there's a pair get_field_milligauss() and
get_offsets_milligauss() that can make the transition to the common
units across all compasses easier.
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
increase iterations to get good results from LM
better check for convergence, comparison with initial fitness is a better way to determine if convergence occurs, if fitness has not improved compared to initial fitness it means optimiser has failed.
Like was done to inertial AK8963 and inertial sensor move the decision
regarding the I2C bus to the caller. We don't allow changing the address
because apparently HMC5843 doesn't support different addresses.
Changing only the bus could be more easily done but this prepares the
ground for using HMC5843 on an AuxiliarBus.
The need for a more generic abstraction is evidenced by this commit: a
"SerialBus" in AP_HAL would be a nice addition rather than letting each
driver to provide its own. However the methods are a little bit
different from what we have in AK8963. It's safer to do the simple
conversion now and later on to add the abstraction changing everybody to
use it.
read() calls accumulate() which takes the lock by itself so we must
release it like we were doing before 669ae26 ("AP_Compass: encapsulated
calibration in HMC").
Just like was done for inertial sensor, different detect() functions
might need different arguments and passing a pointer to function here is
cumbersome. For example, it forces to have a method like "detect_i2c2"
rather than allowing hal.i2c2 to be passed as parameter.
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
In case of error or zeroed data, the i2c semaphore wasn't given.
It happened at first startup on Bebop and caused a failure:
"PANIC: failed to take _bus->sem 100 times in a row..."
No need to repeat the same comments on 3 different places. Instead add a
single comment to explain how start_measurements() and read_raw() are
related.
Don't use a state machine in AK8963: the start_measurements() method
should be called only once. Even if there's a magnetic sensor overflow
the only thing we should do is to discard the new data.
This also moves the _collect_samples() method to be inside _update()
since it's the only place it should be called from, the one running on
the timer thread.
We need to check the AK8963's id before anything else Here we are
reordering the calls to _calibrate() and _check_id(). After that we
don't need to read and write again the AK8963_CNTL1 register.
While at it do some renames as well:
- _configure() -> _setup_mode(): since now there's a
_bus->configure() it became confusing what actually it's
doing.
- make error messages say what we were actually trying to do but
couldn't. Also remove PSTR since this is linux-only.
- start_conversion() -> start_measurements(): We are instructing the
bus to start to get the samples, not to tell the chip to start an
analog->digital conversion like in other sensors.
The MPUREG_PWR_MGMT_1 defines were used when we cared about the MPU9250
initialization code. Now all initialization is done by the MPU9250 class
itself, so remove these defines.
Also remove AK8983_SELFTEST_MAGNETIC_FIELD_ON that is never used and let
the defines always with 2 bytes to improve readability.
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.
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.
Gustavo Jose de Sousa
Andrew Tridgell
mirkix
Randy Mackay
Lucas De Marchi
dgrat
Víctor Mayoral Vilches
Julien BERAUD
Jonathan Challinger
Aaron Wang Shi
Tom Pittenger
Caio Marcelo de Oliveira Filho
José Roberto de Souza
Paul Riseborough
mirkix
raspilot
Staroselskii Georgii
Siddharth Bharat Purohit