This reverts the change from #13895 and instead resolves the issue by
increasing the scale factor limit to 1.4
There is an open question as to why some RM3100 compasses show a
different scale factor (by about 1.25 times) to other versions of the
same sensor. As we haven't resolved this properly it seems the correct
thing to do is follow the datasheet but allow for a wider range of
scale factors to cope with the variation between sensors
this is needed to ensure they are per-instance. Without this the SITL
backend produces zero for all but the first instance. The same would
be true for any multi-instance backend
Instead of repeating on each driver the same sequence of steps,
let's move them to the common parent class. This only implements
it, but no driver was ported yet.
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.
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.
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
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.
_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.
Andrew Tridgell
thomass
Lucas De Marchi
Siddharth Purohit
Randy Mackay
night-ghost
Michael du Breuil
ljwang
Eugene Shamaev
Georgii Staroselskii
Mathieu OTHACEHE
Gustavo Jose de Sousa
Lucas De Marchi
Jonathan Challinger
Víctor Mayoral Vilches
Víctor Mayoral Vilches