Commit Graph

138 Commits

Author SHA1 Message Date
Staroselskii Georgii c207d8c6a8 AP_Compass: add milligauss counterparts to get_field() and get_offsets()
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
Siddharth Bharat Purohit 75829f5533 AP_Compass: remove extra compass field correction 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit cdd8bae6ac AP_Compass: publish raw and unfiltered field for HMC5843 compass 2015-09-03 16:59:13 +10:00
Jonathan Challinger ade39abc7f AP_Compass_HMC5843: use new compass backend interface 2015-09-03 16:59:09 +10:00
Lucas De Marchi a66a201bf5 AP_Compass: HMC5843: Add support for MPU6000 auxiliary bus
Allow HMC5843 to be on MPU6000's auxiliary bus.
2015-08-28 12:39:09 +10:00
Lucas De Marchi 628e446e3e AP_Compass: HMC5843: use a struct for raw value
Like is done in AK8963, declare a raw_value struct.
2015-08-28 12:39:09 +10:00
Lucas De Marchi 9ecd1daf81 AP_Compass: HMC5843: remove useless delay
There's no need to add a delay after suspending timer in the
initialization. Also initialize _bus_sem earlier, like is done in
AK8963.
2015-08-28 12:39:09 +10:00
Lucas De Marchi c66c9c41f2 AP_Compass: HMC5843: be agnostic to I2C bus
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.
2015-08-28 12:39:09 +10:00
Staroselskii Georgii 3eb6be64c9 AP_Compass: ignore first two readings in a clearer way
This way we don't mix two different conditionals: settling and data validation.
2015-08-28 12:39:09 +10:00
Staroselskii Georgii 633330db14 AP_Compass: rename calibration array in HMC
I think naming the variable "scaling" makes more sense.
2015-08-28 12:39:09 +10:00
Staroselskii Georgii d8bddcbf3a AP_Compass: fix indentation in HMC's driver 2015-08-28 12:39:09 +10:00
Staroselskii Georgii 79ffddc6db AP_Compass: add a macro for checking calibration values in HMC 2015-08-28 12:39:08 +10:00
Lucas De Marchi f61386ae43 AP_Compass: HMC5843: release the lock before read
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").
2015-08-28 12:39:08 +10:00
Staroselskii Georgii a9e8c1c464 AP_Compass: encapsulated calibration in HMC 2015-08-28 12:39:08 +10:00
Staroselskii Georgii 0fbc295d97 AP_Compass: encapsulated version detection in HMC driver 2015-08-28 12:39:08 +10:00
Gustavo Jose de Sousa 58f300e78e AP_Compass: standardize inclusion of libaries headers
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.
2015-08-11 16:28:42 +10:00
Randy Mackay 66469d7529 Compass_HMC5843: remove unnecessary i2c semaphore give 2015-08-07 15:50:36 +09:00
Randy Mackay d192b3ccea Compass: set device id for ak8963 and hmc5843 2015-07-06 21:04:46 +09:00
Tom Pittenger 16e71ec1ce Compass: fix compile warning re member init order 2015-04-24 14:15:00 +09:00
Tom Pittenger bf1d128d70 Compass: fix compile warnings re float constants
Also fix example sketch
2015-04-24 12:29:07 +09:00
Andrew Tridgell 1962706a33 AP_Compass: fixed last_update, using last_update_usec()
this broke use of compass in the EKF
2015-03-14 12:31:23 +11:00
Andrew Tridgell 7b51c907f5 AP_Compass: zero some more variables in constructor and init 2015-03-13 19:22:11 +11:00
Andrew Tridgell 0efd3bacea AP_Compass: make new backend match old PX4 behaviour
when a compass is internal only apply board orientation, not user
specified rotation
2015-03-13 18:46:15 +11:00
Andrew Tridgell a871c87cad AP_Compass: use state array for compass variables 2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches 13f0aa5ecd AP_Compass: Separate common code into backend
_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.
2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches d3b76cd8d3 AP_Compass: split compass into frontend/backend 2015-03-13 18:46:15 +11:00
Staroselskii Georgii 7f00dd413f AP_Compass: fixed HMC5883's initialisation code 2014-11-14 10:21:04 +11:00
Jonathan Challinger 9054dd3f9a AP_Compass: use apply_correction_function to eliminate duplication 2014-10-19 17:02:45 +11:00
Randy Mackay 86aac4f40c Compass_HMC5843: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Andrew Tridgell 54562b0b9a AP_Compass: prevent bad initial values from affecting HMC5883 calibration
the first couple of values after we enter strap mode may be low, but
just above our 0.7 threshold. We now discard the first two values to
prevent these affecting the average.

Also added some commented out debug code and a comment on the scaling
of the calibration code
2014-01-22 17:15:34 +11:00
Andrew Tridgell 61f564d7c9 AP_Compass: support motor compensation for multiple compasses
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-12-09 19:45:31 +11:00
Andrew Tridgell c538816825 AP_Compass: support compass health status on multiple compasses 2013-12-09 17:46:41 +11:00
Andrew Tridgell bde89fd4e2 AP_Compass: added compass offsets for 2nd compass 2013-12-09 17:34:07 +11:00
Andrew Tridgell 8a97042fb1 AP_Compass: updates to support multiple compasses 2013-12-09 17:34:07 +11:00
Andrew Tridgell cb16733918 AP_Compass: switched to a vector based interface
this is more consistent with other APIs and makes multi-device support
easier
2013-12-09 17:34:06 +11:00
Randy Mackay 84fdff4cd6 Compass: slightly relax HMC5843 calibration limits
Some users have reported Z axis values as high as 1.33.  Their compasses
seem otherwise health so extending the limits slightly.
2013-11-27 15:36:34 +09:00
Andrew Tridgell 1ccd6bb7ef AP_Compass: don't wait more than 1ms for compass sample
this prevents 5ms delays in compass accumulate
2013-10-08 11:50:54 +11:00
Andrew Tridgell 83c942a512 AP_Compass: prevent NULL deref on enable mag while running 2013-10-08 11:50:53 +11:00
Andrew Tridgell da14ad2e2d AP_Compass: neaten up HMC5883 debug 2013-09-28 21:24:02 +10:00
Andrew Tridgell 6fc5b06043 AP_Compass: fixed some old Serial.print calls 2013-09-28 21:24:02 +10:00
Mike McCauley 4c65c42411 AP_Compass: fixed ARM 32 bit compatibility 2013-09-23 18:10:21 +10:00
Andrew Tridgell fbf79c07f0 AP_Compass: added COMPASS_EXTERNAL option
this allows configuring of a compass as being externally attached
2013-08-30 14:02:09 +10:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
2013-08-30 13:01:39 +10:00
Andrew Tridgell 217f34e155 AP_Compass: added COMPASS_ORIENT parameter, to support external compasses
this allows the user to configure the compass for any orientation
supported by our rotation library
2013-05-02 12:48:14 +10:00
Christopher Hrabia 9760cdf2d7 Compass: corrected space 2013-03-18 14:27:49 +09:00
Randy Mackay b8d492b504 Compass: current based compensation added 2013-03-03 23:02:12 +09:00
Randy Mackay bfb29ce22b Compass: remove virtual functions to save RAM 2013-03-02 00:07:32 +09:00
Randy Mackay d8515ff85e Compass: basic compensation for motor interference 2013-03-02 00:03:16 +09:00
James Bielman 4fa7bb1486 Add AVR compatibility header for missing math.h definitions.
- Define float versions of math functions to the double versions
  on AVR (eg. #define sinf sin).
- These macros appear to be missing in older versions of avr-libs.
- Include AP_Math.h rather than math.h to get these definitions.
2013-01-16 13:52:17 +11:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles.
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
Andrew Tridgell 60a4447a86 AP_Compass: added set_board_orientation() method 2013-01-13 17:32:48 +11:00
Andrew Tridgell 8f424cdf21 AP_Compass: ensure we check we got the semaphore 2013-01-09 20:42:20 +11:00
James Bielman eca1417858 AP_HAL: Add semaphores to I2C driver.
- Guard I2C transactions with this semaphore in the MS5611 and
  HMC5843 drivers.
2013-01-04 15:43:43 -08:00
Andrew Tridgell b70f7f57ba AP_Compass: restore low speed change on register read failure 2012-12-20 14:51:37 +11:00
Pat Hickey 53432a1101 AP_Compass: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Andrew Tridgell daa4712078 AP_Compass: force I2C speed low in a couple more situations 2012-11-12 11:26:20 +11:00
Andrew Tridgell 6922dcdea2 Compass: added compass.accumulate() API
this allows us to accumulate mag readings using spare CPU cycles
2012-09-08 10:05:54 +10:00
uncrustify 4f9c6bbb19 uncrustify libraries/AP_Compass/AP_Compass_HMC5843.cpp 2012-08-21 19:01:20 -07:00
Andrew Tridgell 7daaadf776 Compass: fixed the order of rotations in the compass driver
this should fix the massive heading issues that people have been
reporting. Please test!
2012-03-12 17:33:15 +11:00
Andrew Tridgell 0da64e98f8 Compass: don't save the orientation to EEPROM
there is no point in saving this, the value is only configurable at
compile time for now, and is always set
2012-03-11 15:37:07 +11:00
Andrew Tridgell cb96dd975f Compass: update the compass driver to use the new vector.rotate() method 2012-03-11 15:37:07 +11:00
Andrew Tridgell 6eff9107ea Compass: change last_update to be in microseconds 2012-03-10 10:34:32 +11:00
Andrew Tridgell d0a6359b37 Compass: use constructor to set initial values for _learn and _use_for_yaw
this ensures they are set if you have MAG_ENABLE==0
2012-02-25 17:36:31 +11:00
Andrew Tridgell f59297d7a7 Compass: catch the case of a user enabling a compass mid-flight
if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
2012-02-25 14:51:09 +11:00
Andrew Tridgell 664622523d Compass: added COMPASS_LEARN and COMPASS_USE parameters
these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.

The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
2012-02-25 14:51:08 +11:00
Andrew Tridgell 8c58d95187 modify the compass code for AP_Param 2012-02-13 16:22:51 +11:00
Randy Mackay ed19c25a97 Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h".
Modified FastSerial's write function to return size_t (number of bytes written).
2012-01-28 12:25:47 +09:00
Andrew Tridgell 60185509f4 AP_Compass: when I2c fails, don't retry for 1s 2012-01-04 16:35:47 +11:00
Andrew Tridgell acf4e9b61d I2C: convert compass code to new I2C library
this also adds a healthy attribute, and error checking on all I2C
calls
2011-12-28 20:41:53 +11:00
tridge60@gmail.com 0bf026e6ad Compass: added a gain multiplier
this adjusts the calibration based on the change in gain between
calibration and runtime

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3090 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 10:39:11 +00:00
tridge60@gmail.com ab04055c35 Compass: several fixes to compass calibration code
this changes the calibration code to require at least 5 good reads
from the compass during initialisation. The calibration is taken as
the average of the 5 values.

This also fixes the expected values for the 3 axes for the 5883 to
match reality.

We also save a bit of code space by adding a common rotate_for_5883L()
routine.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3087 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 08:17:25 +00:00
tridge60@gmail.com a604e30c7c cope with double initialisation of the compass
if we've already initialised, then the orientation matrix will already
be right

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3072 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-10 14:07:15 +00:00
tridge60@gmail.com 7d58916a9d compass: add a small delay in compass init
this adds a 50ms delay after setting the compass gains before reading
the compass. Added as paranoia after some strange results on a 5843

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3070 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-10 12:47:25 +00:00
tridge60@gmail.com 48f010f80c compass: fixed a compiler warning
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2844 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-13 09:10:24 +00:00
tridge60@gmail.com 165643c307 fixed 5843 detection code
we were looking for the wrong regA value

Thanks to Chris for the debugging help! (and happy birthday!)

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2828 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-09 22:27:15 +00:00
tridge60@gmail.com 7b803a9e1a compass: added error checking on I2C transactions
this adds error checking to all operations on the compass, to ensure
that we don't accept invalid data

This also fixes the calibration values for the 5883L to match the
recommended values in the spec

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2815 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-09 12:10:00 +00:00
tridge60@gmail.com 90b0d769f8 compass: fixed normal operation mode change for 5883L
We need to set the right rates after config too. Thanks to Randy for
spotting this one

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2737 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-03 12:00:45 +00:00
tridge60@gmail.com d46536e142 compass: fixed output rate and averaging for 5883L
we need to setup the right output rate, or the compass gets very laggy

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2736 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-03 08:32:58 +00:00
tridge60@gmail.com 2605c4b4b2 AP_Compass: fixed calibration of 5883L compass
this fixes a compass initialisation bug where if the first value from
the compass isn't in the right range we would set bad calibration
scaling factors.

This also changes the maximum acceptable calibration values to 2000,
which is needed for the 5883 compass

pair-programmed-with: Randy Mackay

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2718 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-02 11:31:38 +00:00
rmackay9@yahoo.com 8ce403cbe4 AP_Compass - added auto detect of 5843 vs 5883L to AP_Compass_HMC5843 class
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2700 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-28 16:47:53 +00:00
rmackay9@yahoo.com da7a13128a AP_Compass - added auto detect of 5843 vs 5883L to AP_Compass_HMC5843 class
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2699 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-28 16:30:42 +00:00
james.goppert 7809b0ca2a Massive warning fixes.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2089 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-04 19:12:27 +00:00
DrZiplok@gmail.com a4e791dc92 Line ending property changes.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1649 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:27:07 +00:00
DrZiplok@gmail.com cc06f07067 Major update including AP_Var support.
Most of the compass functionality is now abstracted in a base class, with the various sub-classes implementing just their unique functionality.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1647 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:25:20 +00:00
deweibel 8c76c8c936 Add code for auto magnetometer offset nulling.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1615 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-08 20:17:16 +00:00
james.goppert b66b0f6cce Fixed issues with AP_Compass
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1003 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-02 06:23:56 +00:00
jasonshort 729cf47b3c needs some help
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1001 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-02 05:54:02 +00:00
james.goppert 559229a667 Added HIL and HMC5843 compass libs.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@998 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-02 05:19:38 +00:00