Iampete1
bf21ce8af6
AP_Compass: add new line after old param metadata
2021-12-02 12:27:09 +11:00
Iampete1
e24c90a871
AP_Compass: reinstate old param descriptions
2021-11-30 08:14:43 +09:00
Iampete1
6ba87dfe9a
AP_Compass: add param conversion
2021-11-30 08:14:43 +09:00
Iampete1
2fa2e70e7e
AP_Compass: SITL: use new scale param
2021-11-30 08:14:43 +09:00
Iampete1
071ff39ff8
AP_Compass: move instance params to shared table
2021-11-30 08:14:43 +09:00
Andrew Tridgell
a4a0607160
AP_Compass: added AP_RM3100_REVERSAL_MASK
...
this allows for fixing setups where the RM3100 has been installed on a
board with one or more axes reversed
2021-11-24 07:17:13 +11:00
Patrick José Pereira
91ea129be3
AP_Compass: Add support to AK09915
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2021-11-10 18:11:34 -03:00
Willian Galvani
4c756fd7ef
AP_Compass: update MMMC5XX3 driver to support only mmc5983
...
Registers changed
Product ID changed
Data is now Big endian
Results are now 18 bits instead of 16, but we only consume 16.
Added SPI support
Co-authored-by: Patrick Pereira <patrickelectric@gmail.com>
Co-authored-by: Jacob Walser <jwalser90@gmail.com>
2021-11-10 11:38:25 +11:00
Iampete1
1771481779
AP_Compass: never override custom orentation in calabration
2021-11-10 09:28:54 +11:00
Peter Barker
0627ee66c5
AP_Compass: clarify all_configured calculations
2021-11-01 21:28:17 +11:00
Buzz
8d9f161b40
AP_Compass: add support for ICM20948 I2C variant and rename existing one as SPI variant
...
Author: Charles Villard <charlesvillard10@gmail.com>
Author: Buzz <davidbuzz@gmail.com>
2021-11-01 17:40:31 +11:00
Andrew Tridgell
2b19b8a988
AP_Compass: switched to GSF based compass learning
...
this makes inflight compass learning faster, more accurate and much
simpler
2021-11-01 09:00:27 +11:00
Andrew Tridgell
b0674a2b35
AP_Compass: support 2nd address for ICM20948 compass
2021-10-18 08:29:29 +11:00
Pierre Kancir
12e1f67326
AP_Compass: only update last_update_ms on raw_field update if on calibration
2021-10-13 19:45:03 +11:00
Andrew Tridgell
613f970870
AP_Compass: added AK09918 support
...
minor update over AK09916
2021-10-06 18:16:00 +11:00
Hwurzburg
3b543a8ceb
AP_Compass: Change orientation labels to match order of rotation
2021-10-05 11:22:32 +11:00
Tom Pittenger
d45526ff42
AP_Compass: fix periph-heavy compile errors with different things enabled
2021-09-24 10:47:13 -05:00
Peter Barker
224ff97f5c
AP_Compass: move from HAL_NO_GCS to HAL_GCS_ENABLED
2021-09-22 21:37:00 +10:00
Peter Barker
875b6331a4
AP_Compass: fix examples for AP_AHRS_DCM becoming backend
2021-08-31 14:28:53 +10:00
Pierre Kancir
4481bc6147
AP_Compass: fix externalAHRS detection
...
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
2021-08-25 16:37:13 +09:00
Peter Barker
62f6a5b033
AP_Compass: fail calibration unless at least 1 compass to cal
2021-08-24 10:18:38 +10:00
Andrew Tridgell
ffe8add56d
AP_Compass: mark logger Write() calls as streaming where appropriate
2021-08-18 10:20:03 +10:00
bugobliterator
33f9c38528
AP_Compass: change class name from SITL::SITL to SITL::SIM
2021-08-05 07:25:31 +10:00
Peter Barker
944b82a7be
AP_Compass: make is_calibrating const
2021-07-30 17:37:08 +10:00
Peter Barker
d5ea202c20
AP_Compass: mark COMPASS_ENABLED as @RebootRequired
2021-07-30 12:19:42 +10:00
Peter Barker
c351150a46
AP_Compass: use AP::compass().available in place of enabled()
2021-07-30 12:19:42 +10:00
Peter Barker
1d9bfdf8dd
AP_Compass: stop using AHRS as conduit for Compass pointer
2021-07-30 12:19:42 +10:00
Peter Barker
658c978c9d
AP_Compass: add and use compass.available()
...
Covers both being enabled and initialised
2021-07-30 12:19:42 +10:00
Peter Barker
8bbed968de
AP_Compass: remove unused variable
2021-07-30 12:19:42 +10:00
Iampete1
e5d4620372
AP_Compass: update orientation param values
2021-07-28 18:09:05 +10:00
Iampete1
78e025af39
AP_Compass: add Calibrator index test
2021-07-28 18:09:05 +10:00
Iampete1
36a80d46e3
AP_Compass: support auto orientation for new rotations
2021-07-28 18:09:05 +10:00
Andrew Tridgell
aa0a77049e
AP_Compass: fixed build warning on g++ 10.2
2021-07-27 19:50:21 +10:00
Andrew Tridgell
b6dbc618dc
AP_Compass: replaced Pixhawk with more appropriate wording in docs
2021-07-22 07:48:12 +10:00
Siddharth Purohit
7cbb3d8a3f
AP_Compass: allow compass cal option for AP_Periph if defined
2021-07-02 08:50:16 +10:00
Nicola Grossenbacher
755ca37326
AP_Compass: added probe method for MMC3416 compass
2021-06-22 09:52:49 +10:00
Peter Barker
9791fdeb11
AP_Compass: remove unused setup_earth_field
2021-06-15 09:47:31 +10:00
Peter Barker
a9621ed802
AP_Compass: remove HIL support
2021-06-15 09:47:31 +10:00
Andrew Tridgell
f2b7d44772
AP_Compass: fixed build with AP_Periph compass
2021-06-09 15:09:46 +10:00
Andrew Tridgell
684e32068b
AP_Compass: removed perf counters
2021-06-07 14:29:27 +10:00
Siddharth Purohit
8590bfea63
AP_Compass: use first available compass in priority list
2021-06-02 17:10:19 +10:00
Andrew Tridgell
d5dccaa734
AP_Compass: added heater compensation to internal mag for Pix32v5
2021-06-01 08:07:49 +10:00
bugobliterator
0172b867b7
AP_Compass: fix "no detected backends" error with single compass
2021-05-26 18:30:45 +10:00
murata
072a321a01
AP_Compass: Use the value of pi
2021-05-23 16:58:55 +10:00
Siddharth Purohit
b31a04e52b
AP_Compass: allow single compass configure for autopilot boards
2021-05-19 18:04:20 +10:00
Peter Barker
519a71504f
AP_Compass: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED
2021-05-19 17:38:47 +10:00
Andrew Tridgell
60f60356b8
AP_Common: hide unnecessary params on AP_Periph
...
we only use raw compass
2021-05-09 06:44:19 +10:00
Kawamura
b305b3b074
AP_Compass: Send message to gcs for compass learn
2021-05-07 08:43:20 +10:00
Andrew Tridgell
9cc883a8c0
AP_Compass: fixed the IST8308 on CubeBlack
...
CubeBlack needs to probe both internal and external buses
2021-04-20 10:42:54 +10:00
Jacob Walser
8defcb9169
AP_Compass: add memsic MMC5883 driver
2021-04-07 16:03:57 +10:00
Randy Mackay
64c4b6a42b
AP_Compass: remove unused set_use_for_yaw
2021-03-31 19:16:01 +11:00
Andrew Tridgell
0f5dd40052
AP_Compass: removed assert calls
...
these waste flash space and do not do us any good
2021-03-25 14:03:40 +11:00
Pierre Kancir
1082a799c2
AP_Compass: fix example
2021-03-03 18:07:38 +11:00
Andrew Tridgell
f8e0227c8c
AP_Compass: added force_save_calibration()
2021-02-15 07:24:40 +11:00
Andrew Tridgell
a90b54ba6e
AP_Compass: allow for AK09916 correction by heater duty cycle
2021-02-09 11:32:19 +11:00
Marko
00d0fe876d
AP_Compass: Added support for internal i2c bus to VRBrain-v51
...
Now the internal compass HMC5883 of the VRBrain-v51 is correctly recognized
Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com>
2021-02-03 19:00:48 +11:00
Patrick José Pereira
842360b5e3
AP_Compass: Add missing const in member functions
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2021-02-03 18:45:14 +11:00
Andrew Tridgell
d0d480e858
AP_Compass: fixed matrix inverse for new name
2021-01-21 13:09:21 +11:00
Andrew Tridgell
0c156e324b
AP_Compass: enable temperature on lsm303d
2021-01-21 13:09:21 +11:00
Andrew Tridgell
eeb728237f
AP_Compass: removed error on BMM150
...
it may be probed at multiple addresses, don't throw lots of errors
2021-01-13 18:10:25 +11:00
Andrew Tridgell
a068e95a48
AP_Compass: added ExternalAHRS driver
2021-01-05 21:13:12 +11:00
Andrew Tridgell
09603e29ce
AP_Compass: fixed external handling for BMM150
2021-01-02 10:31:15 +11:00
Andrew Tridgell
3d4a8829f3
AP_Compass: added BMM150 as available external mag
2021-01-02 10:31:15 +11:00
Andrew Tridgell
353ec29ab6
AP_Compass: removed have_ekf_logging()
2020-11-10 16:15:45 +11:00
Andrew Tridgell
f7daa4a93a
AP_Compass: raise max scale factor and make symmetric
2020-11-10 10:15:39 +11:00
giacomo892
640990a7c7
AP_Compass: Fix TYPEMASK bitmask
2020-10-27 15:40:25 +11:00
bugobliterator
84f3e70b10
AP_Compass: add set_dev_id when initialising HIL
2020-09-30 17:01:37 +10:00
Siddharth Purohit
72cf040f81
AP_Compass: add option to selectively disable Compass I2C backend
2020-09-24 12:32:19 +10:00
Andrew Tridgell
8920362212
AP_Compass: default SITL compass to having scale factor set
2020-09-20 09:25:57 +10:00
Andrew Tridgell
bfa2feb8d8
AP_Compass: fixed build warnings for MSP with AP_Periph
2020-09-15 09:40:03 +10:00
yaapu
5e88a856e9
AP_Compass: support for MSP compass
2020-09-09 06:35:50 +10:00
Andrew Tridgell
37866ec3cf
AP_Compass: fixed compass logging when first compass unhealthy
...
keep logging compasses if any are healthy
2020-09-08 11:01:14 +10:00
Andrew Tridgell
c2feebea13
AP_Compass: allow simulation of compass sensor failure
2020-09-08 11:01:14 +10:00
bugobliterator
de6b48f922
AP_Compass: set only if changed to save space in param storage
2020-09-02 17:06:05 +10:00
Siddharth Purohit
5cd6175d94
AP_Compass: fix reordering compass devid by priority at boot
2020-08-25 08:30:04 +10:00
Siddharth Purohit
bf1a7799f8
AP_Compass: move to using CANManager library
2020-08-19 17:31:09 +10:00
Andrew Tridgell
2a662793c2
AP_Compass: support probing RM3100 on all 4 addresses
2020-08-02 12:25:29 +10:00
Siddharth Purohit
f55ee264a7
AP_Compass: reset compass ids not present after compass cal
...
also implement replacement mechanism for UAVCAN compasses
2020-07-27 19:48:15 +10:00
Andy Piper
88cda25d62
AP_Compass: enable LIS3MDL and friends
2020-06-23 19:59:10 +10:00
Peter Barker
0f2bcea647
AP_Compass: remove use of Vector3 as function
2020-06-16 11:06:47 +10:00
Michael du Breuil
f25d20f549
AP_Compass: Only send a single MAG_CAL_* message per poll
...
this fairly allocates bandwidth between the calibrators
2020-06-16 10:09:14 +10:00
bugobliterator
82480f0a3d
AP_Compass: return id of max empty compass state when prio id is 0
2020-06-13 07:52:20 +10:00
Siddharth Purohit
c0eb27cc35
AP_Compass: pull compass calibrator out into a separate thread
2020-06-05 09:38:40 +10:00
bugobliterator
c914a91be9
AP_Compass: add support for per mag calibration
2020-06-05 09:38:40 +10:00
Andrew Tridgell
a0cf4e158a
AP_Compass: revert change to RM3100 scale factor and increase scale limit
...
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
2020-05-24 15:06:15 +10:00
Andy Piper
63b5711a4d
AP_Compass: use a separate slot for the custom compass rotation
2020-05-24 07:46:17 +10:00
Andy Piper
f5320e8816
AP_Compass: make sure SITL rotation gets initialized like all the others
...
don't remove a custom rotation that has already been set
2020-05-21 16:28:27 +10:00
Andrew Tridgell
4a80313fdd
AP_Compass: added get_num_enabled()
...
used by EKF3
2020-05-09 12:33:33 +10:00
Andy Piper
b7b2d9a6ce
AP_Compass: add support for custom compass rotation via COMPASS_CUS_{ROLL,PIT,YAW}
...
add reboot required for parameters that need it
disable custom rotation on AP_Periph devices
2020-05-05 09:25:18 +10:00
Andrew Tridgell
66655212b1
AP_Compass: fixed compass ordering bug with AP_Periph
...
when a user swaps compasses on AP_Periph we want to immediately
replace it. The compass ordering code was rejecting the new compass
and calling panic as it was out of slots. This changes the AP_Compass
ordering so that when we only have a single compass we operate in a
very simple manner where we always accept the first compass found
2020-04-29 18:51:16 +10:00
Andrew Tridgell
660f65e6b8
AP_Compass: use GCS_SEND_TEXT()
2020-04-29 07:36:55 +10:00
Paul Riseborough
8e9dc1c393
AP_Compass: Add accessor function for COMPASS_AUTODEC
2020-04-28 11:42:31 +09:00
Mark Whitehorn
570aa929ca
AP_Compass: handle ROTATION_CUSTOM in SITL
2020-04-28 10:57:26 +10:00
Michael du Breuil
9b404669c8
AP_Compass: Skip rotating the mag data when the board orientation is none
2020-04-28 10:37:00 +10:00
Peter Barker
c36e06e7fa
AP_Compass: add documentation for COFS, compass-learning message
2020-04-14 07:34:59 +10:00
Peter Barker
851d9ae1ef
AP_Compass: log message information for MMC3416
2020-04-12 08:36:48 +10:00
Andrew Tridgell
dd4cf6ccdd
AP_Compass: change RM3100 device ID
...
changed scale factor means users need to recalibrate
2020-04-08 11:21:51 +10:00
Andrew Tridgell
18c3efc377
AP_Compass: fixed scaling of RM3100
...
scale factor was off by 200/256, resulting in COMPASS_SCALE of about
1.28
thanks to Arace for noticing
2020-04-08 11:21:51 +10:00
murata
7ec0cb47a5
AP_Compass: const extern hal reference
2020-04-07 20:45:51 +09:00
Andrew Tridgell
6d42e9502b
AP_Compass: fixed unreg compass check for AP_Periph
...
this fixes detection of compasses on peripherals where
COMPASS_MAX_UNREG_DEV is 0
2020-03-26 18:10:13 +11:00
Peter Barker
0665c379de
AP_Compass: correct use of incorrect backend-count macro
2020-03-17 11:25:16 +11:00
Peter Barker
934d05f4ff
AP_Compass: correct incorrect and misleading comment
2020-03-11 22:24:36 +11:00
Rishabh
cbccdfa8a3
AP_Compass: Alert GCS if user tries to calibrate compass while vehicle is armed
2020-03-03 11:37:19 +11:00
Andrew Tridgell
8f83bf5e80
AP_Compass: fixed in-flight learning for all compasses
...
after recent changes only first compass was learnt
See
https://discuss.ardupilot.org/t/break-in-latest-master-in-flight-compass-calibration/52602
2020-02-25 12:40:27 +11:00
Siddharth Purohit
f00a39af52
AP_Compass: run style script on Compass.cpp
2020-02-19 13:59:53 +09:00
Siddharth Purohit
8d227d401a
AP_Compass: modify compass driver to support consistent ordering and hotplugging
2020-02-19 13:59:53 +09:00
Siddharth Purohit
defc1b5fcb
ArduCopter: add arming message for compass not detected but assigned
2020-02-19 13:59:53 +09:00
Andrew Tridgell
521cf4d6a1
AP_Compass: removed annoying startup messages
...
these happen due to sensor probing for older configs
2020-02-06 15:25:46 -07:00
Peter Barker
cc3f6468e3
AP_Compass: mark some parameters as Calibration parameters
2020-02-04 20:29:09 +11:00
Andrew Tridgell
0ca45059ac
AP_Compass: make all semaphores recursive
...
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
2020-01-19 20:19:30 +11:00
Andrew Tridgell
4ee6fb9cdf
AP_Compass: use take_blocking instead of HAL_SEMAPHORE_BLOCK_FOREVER
...
this makes for cleaner and smaller code as the failure case is not
needed
2020-01-19 20:19:30 +11:00
Peter Hall
c870df0351
AP_Compass: get_time_flying in vehicle
2020-01-14 22:34:37 -07:00
Andrew Tridgell
ebceab9aa0
AP_Compass: don't probe for ICM20948 on AP_Periph
2020-01-07 12:37:35 +11:00
Andrew Tridgell
270844745f
AP_Compass: limit rotations we try to ROTATION_MAX_AUTO_ROTATION
2020-01-01 16:59:27 +11:00
Pierre Kancir
d332773689
AP_Compass: add register to checked ones and remove single-use goto
...
Also fix comment on TMRC register setting
2019-12-21 09:07:20 +11:00
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