59d5691e37
AP_Compass: fixed zero compass diagonals
...
this fixes a regression from 4.2 to 4.3.
previously we automatically set the diagnoals to 1,1,1 if they were
0,0,0. We don't do that any more. I was helping a user who had copied
an old config with 0,0,0 for diagonals and did not understand two
things:
- the compass did not work in 4.3
- large vehicle mag cal didn't work
2023-02-14 16:25:54 +09:00
b6bcd6346d
AP_Compass: switch to a general method of heater compensation
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this allows any board to easily setup heater compensation for an
internal compass. The offsets are in body frame (previously in sensor
frame) and are sensor specific using bus device IDs
2022-08-02 17:26:46 +10:00
cdf930effe
AP_Compass: defualt diagonals vector to 1.0
2022-07-28 16:51:33 +10:00
209ad965be
AP_Compass: remove custom rotations
2022-03-02 18:16:42 +11:00
8eb40bafc5
AP_Compass: revert compass parameter changes
2021-12-04 16:51:53 +11:00
071ff39ff8
AP_Compass: move instance params to shared table
2021-11-30 08:14:43 +09:00
12e1f67326
AP_Compass: only update last_update_ms on raw_field update if on calibration
2021-10-13 19:45:03 +11:00
f55ee264a7
AP_Compass: reset compass ids not present after compass cal
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also implement replacement mechanism for UAVCAN compasses
2020-07-27 19:48:15 +10:00
c0eb27cc35
AP_Compass: pull compass calibrator out into a separate thread
2020-06-05 09:38:40 +10:00
63b5711a4d
AP_Compass: use a separate slot for the custom compass rotation
2020-05-24 07:46:17 +10:00
b7b2d9a6ce
AP_Compass: add support for custom compass rotation via COMPASS_CUS_{ROLL,PIT,YAW}
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add reboot required for parameters that need it
disable custom rotation on AP_Periph devices
2020-05-05 09:25:18 +10:00
9b404669c8
AP_Compass: Skip rotating the mag data when the board orientation is none
2020-04-28 10:37:00 +10:00
8d227d401a
AP_Compass: modify compass driver to support consistent ordering and hotplugging
2020-02-19 13:59:53 +09:00
6fd0ca36aa
AP_Compass: added estimation of compass scale factor
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this adds new COMPASS_SCALE, COMPASS_SCALE2 and COMPASS_SCALE3
parameters, which give the sensor scaling factor. It is used to
compensate for an incorrect scaling in a compass.
The 3D compass calibration process will set the correct value
automatically, otherwise users can set the value to a known value for
an existing compass
2019-12-03 20:48:23 +11:00
f4576ec8f3
AP_Compass: reduce firmware size for AP_Periph
2019-08-27 10:29:56 +10:00
58dbbd6d0e
AP_Compass: Refactor battery current backend
2019-07-14 00:28:00 -07:00
9fc954b030
AP_Compass: Reduce scope of BattMonitor include
2019-06-18 10:02:05 +10:00
9e7929adf6
AP_Compass: removed unusued AP_Common/Semaphore.h
2019-05-15 15:33:48 +10:00
925555c995
AP_Compass: move accum fields to frontend
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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
2018-10-17 12:54:22 +11:00
a260792e9e
AP_Compass: use WITH_SEMAPHORE()
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and removed usage of hal.util->new_semaphore()
2018-10-17 12:54:22 +11:00
329516373c
AP_Compass: add common method to accumulate and drain samples
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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.
2018-10-15 14:41:09 -07:00
4039b51810
AP_Compass: stop passing frontend pointer
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Let AP_Compass_Backend call AP::compass() *once* instead of passing
the frontend pointer over and over.
2018-09-06 08:23:02 +10:00
878e84a015
AP_Compass: correct edge case where checks pass when saved dev_id != detected dev_id
2018-08-07 10:00:10 +10:00
cbd6f4cc21
AP_Compass: fixed compass for tailsitters in SITL
2018-07-20 14:21:06 +10:00
2fe2c8fbda
AP_Compass: initialise compass IDs saved in SITL
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this ensures we don't get uncalibrates compasses in SITL
2018-07-13 10:19:01 +10:00
6699c59ad3
AP_Compass: add support for custom board orientations
2018-04-24 13:04:37 +01:00
eccc4f375b
AP_Compass: fixed build warning
2018-04-12 11:50:44 +10:00
f26bb0cfbe
AP_Compass: added range filter to backend, added its use in some sensors (thanks khancyr for style correction)
2018-04-11 14:46:42 +10:00
c66d15efd7
AP_Compass: Read current for compensation from the battery singleton
2018-03-27 22:12:21 +01:00
ca30f6aec8
AP_Compass: added per-motor compass calibration
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this allows for a motor calibration vector per motor
2018-02-08 17:36:33 +11:00
fb77d0739e
AP_Compass: Remove unused time calls, stash the time in the read loop
2017-09-07 19:53:14 +01:00
a440ac4c9d
AP_Compass: use a set_and_notify for external and IDs
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ensure that GCS that connects quickly gets the right value
fixes issue #5364
2016-12-09 14:36:01 -08:00
2716ab8408
AP_Compass: added support for per-instance rotations
2016-11-09 17:08:08 +11:00
1c631ea037
AP_Compass: cleanup use of backend semaphores
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fixed drivers that didn't protect accumulation counters
2016-11-09 17:08:01 +11:00
152edf7189
Global: remove mode line from headers
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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
ad91a810b3
AP_Compass: Backend: add method is_external()
2016-05-10 15:55:58 -03:00
88a1ebaf0e
AP_Compass: allow setting of exact timestamp in HIL compass
2016-05-07 18:27:19 +10:00
0e32c047c3
AP_Compass: allow for COMPASS_EXTERNAL=2 for forced external
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this allows users with unusual compass bus connections to force the
compass to external
2016-05-01 10:54:46 +10:00
20a4a42cb3
AP_Compass: don't store raw and unfiltered fields
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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.
2016-03-23 17:50:38 -03:00
e6059f5197
AP_Compass: rename files to follow other libraries
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AP_Compass.h is the main header to be exported and AP_Compass.cpp its
implementation. There's no need for an additional header.
2016-03-23 17:50:38 -03:00
0d3fbbdd37
AP_Compass: use millis/micros/panic functions
2015-11-20 12:30:05 +09:00
4a8a24a1a2
AP_Compass: don't update last_update_usec for raw fields
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this fixes a problem where the EKF gets compass samples at 50Hz
instead of the expected 10Hz
2015-10-21 13:22:24 +11:00
1a4a26de2b
AP_Compass: remove check for max compass instances
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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.
2015-10-21 10:05:18 +11:00
0caaef7394
AP_Compass: mention mag field unit in existing documentation
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We are now always using milligauss for mag field unit, so let's update
documentation accordingly.
2015-10-15 19:56:15 +09:00
9927cf066f
AP_Compass: remove use of milligauss_ratio
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Now, we have all current compasses publishing their values already in
milligauss, so there's no need for that variable anymore.
2015-10-15 19:56:14 +09:00
c59bdc12df
AP_Compass: fix the milligauss handling
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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
2015-09-09 14:53:11 +10:00
c207d8c6a8
AP_Compass: add milligauss counterparts to get_field() and get_offsets()
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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.
2015-09-09 10:38:16 +10:00
72c8d0f530
AP_Compass: add samples to calibrator when published
2015-09-03 16:59:11 +10:00
f20ef69777
Compass: add soft-iron corrections
2015-09-03 16:59:09 +10:00
add1b8c257
AP_Compass: modify backend interface to push raw samples to frontend
2015-09-03 16:59:09 +10:00
Andrew Tridgell
Iampete1
Pierre Kancir
Siddharth Purohit
Andy Piper
Michael du Breuil
Lucas De Marchi
Jonathan Challinger
Jacob Walser
night-ghost
Mathieu OTHACEHE
Gustavo Jose de Sousa
Lucas De Marchi
Caio Marcelo de Oliveira Filho
Staroselskii Georgii