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876 Commits

Author SHA1 Message Date
Pierre Kancir d6563bff7d AP_Compass: probe for RM3100 2019-12-21 09:07:20 +11:00
Andrew Tridgell 09d7e732b7 AP_Compass: added mag_cal_fixed_yaw() 
this is a fast compass calibration that uses a yaw value provided by
the user.
 2019-12-18 17:20:37 +11:00
Peter Barker 880af0de4a AP_Compass: tidy constructor 2019-12-05 17:38:57 +11:00
Peter Barker 823f2bb217 AP_Compass: make compass_cal_status_t enum class Status within CompassCalibrator 2019-12-05 17:38:57 +11:00
Andrew Tridgell 303030c524 AP_Compass: narrow range of allowed scale factor 2019-12-03 20:48:23 +11:00
Andrew Tridgell 421fbef2a0 AP_Compass: added COMPASS_OPTIONS 
this allows user to set that calibration requires GPS lock
 2019-12-03 20:48:23 +11:00
Andrew Tridgell 6fd0ca36aa AP_Compass: added estimation of compass scale factor 
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
Randy Mackay ecb60955ff AP_Compass: minor comment fix 
Co-Authored-By: Peter Barker <pb-gh@barker.dropbear.id.au>
 2019-11-26 11:10:06 +11:00
lukezhqin 32f11ba863 AP_Compass: fix thin_samples to avoid comparing sample to itself 2019-11-26 11:10:06 +11:00
Randy Mackay f97cfd1065 AP_Compass: fix calibrator update when step one fails 2019-11-26 11:10:06 +11:00
Randy Mackay 89fa324a2b AP_Compass: rename CompassCalibrator::clear to stop 2019-11-26 11:10:06 +11:00
Randy Mackay 90cfbe01e4 AP_Compass: remove unused calc_mean_squared_residuals 2019-11-26 11:10:06 +11:00
Randy Mackay feb0f141fa AP_Compass: add comments to calibrator 2019-11-26 11:10:06 +11:00
Randy Mackay 09046aec66 AP_Compass: formatting fixes 
this should be a non-functional change
 2019-11-26 11:10:06 +11:00
Randy Mackay f58b09ebef AP_Compass: constify get_completion_mask and remove use of auto 2019-11-26 11:10:06 +11:00
Randy Mackay 396cec96ee AP_Compass: constify get_orientation 2019-11-26 11:10:06 +11:00
Andrew Tridgell 1fe146c409 AP_Compass: remove expected error 
this happens with AK09916 probing on invensense sensor
 2019-10-30 15:21:07 +11:00
Andrew Tridgell 513e483821 AP_Compass: disable HIL for AP_Periph 
this saves several k of flash
 2019-10-24 22:03:43 +11:00
Randy Mackay 01c36fa6aa AP_Compass: LEARN param default to 0 for all vehicles 2019-10-23 17:15:57 +11:00
Vlad-Andrei Dorobantu 83c641c76f AP_Compass: corrected the cause of SIGSEGV signal when running AP_Compass_test 2019-10-19 09:58:42 +11:00
Andrew Tridgell 7ad91fa1c9 AP_Compass: don't show too many params when max compasses 1 2019-10-16 08:58:52 +11:00
Peter Barker 8e412d0885 AP_Compass: adjust for new vehicle base class 2019-10-08 11:26:04 +11:00
murata ec0c49315f AP_Compass: Change direct value to define name 2019-09-24 13:23:24 +10:00
Peter Barker 6193d6cf69 AP_Compass: fix example by instantiating Baro 
Baro is required to get location, and Compass tries to get the declination based on current location
 2019-09-13 08:54:21 +09:00
Andrew Tridgell 71ad90819e AP_Compass: don't reset SITL compass offsets if set by user 
makes for easier EKF compass bias learning testing
 2019-09-11 14:22:18 +10:00
Andrew Tridgell df387dc396 AP_Compass: allow rotation of BMM150 compass 2019-09-07 09:53:21 +10:00
Andrew Tridgell 1cb775e2c2 AP_Compass: probe more addresses for IST8310 
IST8310 can be on 4 possible i2c addresses
 2019-09-07 07:35:54 +10:00
Andrew Tridgell bd0760f9d4 AP_Compass: removed unusued compass probes 
now only use probe lists
 2019-09-04 16:27:47 +10:00
Andrew Tridgell 3bc8522b54 AP_Compass: added ROTATION_NONE to probes 
we no longer use defaults in the headers
 2019-09-04 16:27:47 +10:00
Andrew Tridgell f877def909 AP_Compass: removed default rotations for compass probe 
this prevents bugs where the force_external and rotation are mixed up
in hwdef.dat causing incorrect rotations
 2019-09-04 16:27:47 +10:00
Andrew Tridgell 2a48241ebb AP_Compass: fixed naming of QMC5883L driver 
needed for probe using COMPASS macro in hwdef.dat
 2019-09-04 16:27:47 +10:00
Andrew Tridgell bcb139f02f AP_Compass: fixed uninitialised CAN device ID bits 2019-08-29 18:37:03 +10:00
Andrew Tridgell f4576ec8f3 AP_Compass: reduce firmware size for AP_Periph 2019-08-27 10:29:56 +10:00
Andrew Tridgell 0ec3f80bbe AP_Compass: enable LIS3MDL on I2C and RM3100 on SPI 2019-08-27 10:29:56 +10:00
Peter Barker 1adda1ccf0 AP_Compass: move automatic declination setting into AP_Compass itself 2019-08-13 10:02:13 +10:00
Peter Barker df01bed14f AP_Compass: take GCS link in place of channel to calibration routines 2019-08-05 09:23:10 +10:00
Michael du Breuil 58dbbd6d0e AP_Compass: Refactor battery current backend 2019-07-14 00:28:00 -07:00
Peter Barker 7b52c41287 AP_Compass: fix example by instantiating serial_manager 2019-07-01 19:11:03 +10:00
Michael du Breuil 9fc954b030 AP_Compass: Reduce scope of BattMonitor include 2019-06-18 10:02:05 +10:00
Andrew Tridgell 7206258587 AP_Compass: use new get_earth_field_ga() API 2019-06-03 12:21:29 +10:00
Andrew Tridgell 38c775e6df AP_Compass: removed old mRoControlZeroF7 config 2019-05-30 15:39:57 +10:00
Andrew Tridgell 481ae22671 AP_Compass: support new sensor config setup 2019-05-30 15:39:57 +10:00
Andrew Tridgell 532b82b3a3 AP_Compass: use DRIVER_HMC5843 to match driver name 2019-05-30 15:39:57 +10:00
Andrew Tridgell ba9b92c4af AP_Compass: rename to EXPECT_DELAY_MS() 2019-05-15 15:33:48 +10:00
Andrew Tridgell ecc6f15dc0 AP_Compass: use EXPECT_DELAY() macro 2019-05-15 15:33:48 +10:00
Andrew Tridgell 9e7929adf6 AP_Compass: removed unusued AP_Common/Semaphore.h 2019-05-15 15:33:48 +10:00
Phillip Kocmoud 1f827004be AP_Compass: Enable AK09916 inside the ICM20948 2019-05-10 15:05:42 +10:00
Pierre Kancir 427a88a1fe AP_Compass: fix AP_Compass_test 2019-05-01 14:17:34 -07:00
Peter Barker bf23f1df67 AP_Compass: move responsibility for logging into library 2019-04-23 10:06:17 +10:00
Peter Barker 0e8722181f AP_Compass: take responsibility for not running cal if armed 2019-04-23 10:06:17 +10:00
Andrew Tridgell 21aee52604 AP_Compass: flag compass cal as long expected delay 2019-04-22 16:53:35 +10:00
Siddharth Purohit 6dc94b0e3d Compass: fix compass orientation for AK09916 on Cube 2019-04-17 06:47:14 +10:00
Peter Barker 5455d27e84 AP_Compass: specify floating point constants 
Probably indicates compiler floating-point-constants directive isn't
working
 2019-04-05 23:04:17 -07:00
Peter Barker 7ae7c48362 AP_Compass: remove set_and_save_offsets taking integer parameters 
because the only caller that mattered had floats to offer...
 2019-04-05 06:09:25 -07:00
Michael du Breuil d65f4b5ff8 AP_Compass: Fix implicit include of SRV_Channel 2019-04-05 20:12:53 +11:00
Sagnik Bhattacharya 4c809888de AP_Compass: add more comments to example 2019-04-02 19:41:45 +11:00
Peter Barker 54e3959a99 AP_Compass: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00
Mirko Denecke 9c8a7efbc6 AP_Compass: remove unused field 2019-03-26 16:09:11 +11:00
Peter Barker 2d16c37844 AP_Compass: examples: compass init never fails 2019-03-13 13:06:50 +11:00
Peter Barker f8be4efed4 AP_Compass: init never fails; return void rather than bool 2019-03-13 13:06:50 +11:00
Siddharth Purohit 6ff8f52957 AP_Compass: add support for AK09916 connected over fourth IMU over I2C 2019-03-06 20:47:10 +11:00
Siddharth Purohit 104c433081 AP_Compass: AK09916 fix sample register structure 2019-03-06 20:47:10 +11:00
Siddharth Purohit cff8bf14b7 AP_Compass: add support for AK09916 via invensensev2 aux bus 2019-03-06 20:47:10 +11:00
Andrew Tridgell 7f3103073a AP_Compass: setup for fmuv6 2019-02-26 16:18:26 +11:00
Peter Barker 7184d5e860 AP_Compass: add missing override keywords 2019-02-22 15:01:09 +00:00
Peter Barker 97f2d946ab AP_Compass: remove unused variables from AP_Compass_RM3100.h 2019-02-20 19:23:54 +11:00
Peter Barker f0fd6fd996 AP_Compass: remove keywords.txt 2019-02-17 00:29:38 -08:00
Peter Barker 7ab6a5d94d AP_Compass: uavcan: reindent after WITH_SEMAPHORE change (NFC) 2019-02-16 14:33:11 +11:00
Peter Barker 5b06d01402 AP_Compass: uavcan: use WITH_SEMAPHORE in place of give/take _registry 2019-02-16 14:33:11 +11:00
Tom Pittenger 2cd485e7ae AP_Compass: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
thomass 513964cdad AP_Compass: RM3100 simplify unisgned to signed integer conversion 2019-02-10 08:00:49 +11:00
thomass 97f3627bd5 AP_Compass: RM3100 added default cycle count value check on initialization as a whoami substitute 2019-02-10 08:00:49 +11:00
thomass 488133c396 AP_Compass: RM3100 make compliant with common methods for accumulating and draining samples 2019-02-10 08:00:49 +11:00
thomass ede80773b9 AP_Compass: RM3100 stop passing frontend for compliance with backend class 2019-02-10 08:00:49 +11:00
thomass 8155c8b178 AP_Compass: added backend implementation for RM3100 compass 2019-02-10 08:00:49 +11:00
Andrew Tridgell 4003ea841c AP_Compass: change to 3 compasses in SITL 2019-02-09 13:04:52 +11:00
Andrew Tridgell 700519d805 AP_Compass: raise default max compass offsets 
the larger offset doesn't present any problems for the compass
drivers, and helps on planes with magnetic hatches
 2019-02-03 04:57:25 -08:00
Andrew Tridgell a21f4dc0c9 AP_Compass: update COMPASS_LEARN docs 2019-01-27 14:31:28 +11:00
Andrew Tridgell 1b95f17940 AP_Compass: removed F4Light 2019-01-21 21:57:21 +11:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Randy Mackay 68363ff4a2 AP_Compass: devid param desc include ReadOnly 2018-12-27 10:08:11 +09:00
Andrew Tridgell 3d9126ec4a AP_Compass: run lsm303d at 91Hz, not 100Hz 
Peter and I have discovered an odd behaviour with the lsm303d mag. If
you fetch data a bit too soon then it will give a peridic oscillation
in the output.

Checking the data ready bit in the status register doesn't help. The
only fix I've found is to run the sampling at a bit lower rate
 2018-11-30 11:39:54 +11:00
Peter Barker e7a981d2c3 AP_Compass: add override keyword where required 2018-11-08 11:30:12 +11:00
Phillip Kocmoud 27a2b8a350 AP_Compass: Increase default MAX compass offset 
After discussing the @tridge and @rmackay9 it was suggested that raising the maximum allowable compass offset value would allow users of the LIS3MDL and possibly others with larger compass offsets to fly with the default setting. 

This has been deemed a fairly safe change that still allows for sufficient overhead to prevent saturation.
 2018-10-30 09:25:51 +09:00
Lucas De Marchi 9d95579b2d AP_Compass: update TYPEMASK documentation 
Add missing drivers IST8308 and MAG3110.
 2018-10-25 20:19:30 -07:00
Lucas De Marchi 34fb98b1e0 AP_Compass: probe for IST8308 on external buses 2018-10-25 20:19:30 -07:00
Lucas De Marchi c3d87f91fc AP_Compass: add support to IST8308 2018-10-25 20:19:30 -07:00
Andrew Tridgell 70246cf954 AP_Compass: added notify events (LEDs and buzzer) for learning 2018-10-24 07:25:42 +10:00
Andrew Tridgell 23ddd994ec AP_Compass: allow multiple COMPASS_LEARN runs per boot 2018-10-24 07:25:42 +10:00
Andrew Tridgell 026089747d AP_Compass: use LEARN_NONE on learn completion 
master doesn't yet have the statistical EKF learning
 2018-10-24 07:25:42 +10:00
Andrew Tridgell 0a7170774a AP_Compass: allow learning of all compasses 
slave secondary compasses to primary
 2018-10-24 07:25:42 +10:00
Andrew Tridgell 5ac6309848 AP_Compass: enable in-flight compass learning system 
using COMPASS_LEARN=3
 2018-10-24 07:25:42 +10:00
Andrew Tridgell 84d7160128 AP_Compass: use new accumulate functions for UAVCAN 2018-10-19 16:03:45 +11:00
Andrew Tridgell 579a84b53e AP_Compass: use new accumulate functions for AK8963 2018-10-19 16:03:45 +11:00
Andrew Tridgell 55e4b64755 AP_Compass: don't apply offsets twice in SITL 2018-10-19 16:03:45 +11:00
Andrew Tridgell 925555c995 AP_Compass: move accum fields to frontend 
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
Andrew Tridgell 83065d5e88 AP_Compass: convert SITL to new accumulate approach 2018-10-17 12:54:22 +11:00
Andrew Tridgell a260792e9e AP_Compass: use WITH_SEMAPHORE() 
and removed usage of hal.util->new_semaphore()
 2018-10-17 12:54:22 +11:00
vierfuffzig b455c7a769 AP_Compass: add rotation option for AK8963_MPU9250 
allows using non-neutrally rotated AK8963 compass on MPU9250 as internal
reference: https://github.com/ArduPilot/ardupilot/pull/9459
 2018-10-17 09:35:49 +11:00