/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef Compass_h
#define Compass_h
#include <inttypes.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include "CompassCalibrator.h"
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <AP_HAL/AP_HAL.h>
#include "AP_Compass_Backend.h"
// compass product id
#define AP_COMPASS_TYPE_UNKNOWN 0x00
#define AP_COMPASS_TYPE_HIL 0x01
#define AP_COMPASS_TYPE_HMC5843 0x02
#define AP_COMPASS_TYPE_HMC5883L 0x03
#define AP_COMPASS_TYPE_PX4 0x04
#define AP_COMPASS_TYPE_VRBRAIN 0x05
#define AP_COMPASS_TYPE_AK8963_MPU9250 0x06
#define AP_COMPASS_TYPE_AK8963_I2C 0x07
#define AP_COMPASS_TYPE_LSM303D 0x08
// motor compensation types (for use with motor_comp_enabled)
#define AP_COMPASS_MOT_COMP_DISABLED 0x00
#define AP_COMPASS_MOT_COMP_THROTTLE 0x01
#define AP_COMPASS_MOT_COMP_CURRENT 0x02
// setup default mag orientation for some board types
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define MAG_BOARD_ORIENTATION ROTATION_ROLL_180
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
# define MAG_BOARD_ORIENTATION ROTATION_ROLL_180
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
# define MAG_BOARD_ORIENTATION ROTATION_YAW_90
#else
# define MAG_BOARD_ORIENTATION ROTATION_NONE
#endif
/**
maximum number of compass instances available on this platform. If more
than 1 then redundent sensors may be available
*/
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
#define COMPASS_MAX_INSTANCES 3
#define COMPASS_MAX_BACKEND 3
#else
#define COMPASS_MAX_INSTANCES 1
#define COMPASS_MAX_BACKEND 1
#endif
//MAXIMUM COMPASS REPORTS
#define MAX_CAL_REPORTS 10
#define CONTINUOUS_REPORTS 0
#define AP_COMPASS_MAX_XYZ_ANG_DIFF radians(50.0f)
#define AP_COMPASS_MAX_XY_ANG_DIFF radians(30.0f)
#define AP_COMPASS_MAX_XY_LENGTH_DIFF 100.0f
class Compass
{
friend class AP_Compass_Backend;
public:
/// Constructor
///
Compass();
/// Initialize the compass device.
///
/// @returns True if the compass was initialized OK, false if it was not
/// found or is not functioning.
///
bool init();
/// Read the compass and update the mag_ variables.
///
bool read();
/// use spare CPU cycles to accumulate values from the compass if
/// possible (this method should also be implemented in the backends)
void accumulate();
/// Calculate the tilt-compensated heading_ variables.
///
/// @param dcm_matrix The current orientation rotation matrix
///
/// @returns heading in radians
///
float calculate_heading(const Matrix3f &dcm_matrix) const;
/// Sets offset x/y/z values.
///
/// @param i compass instance
/// @param offsets Offsets to the raw mag_ values.
///
void set_offsets(uint8_t i, const Vector3f &offsets);
/// Sets and saves the compass offset x/y/z values.
///
/// @param i compass instance
/// @param offsets Offsets to the raw mag_ values.
///
void set_and_save_offsets(uint8_t i, const Vector3f &offsets);
void set_and_save_diagonals(uint8_t i, const Vector3f &diagonals);
void set_and_save_offdiagonals(uint8_t i, const Vector3f &diagonals);
/// Saves the current offset x/y/z values for one or all compasses
///
/// @param i compass instance
///
/// This should be invoked periodically to save the offset values maintained by
/// ::learn_offsets.
///
void save_offsets(uint8_t i);
void save_offsets(void);
// return the number of compass instances
uint8_t get_count(void) const { return _compass_count; }
/// Return the current field as a Vector3f
const Vector3f &get_field(uint8_t i) const { return _state[i].field; }
const Vector3f &get_field(void) const { return get_field(get_primary()); }
const Vector3f get_field_milligauss(uint8_t i) const { return get_field(i) * _state[i].milligauss_ratio; }
const Vector3f get_field_milligauss(void) const { return get_field_milligauss(get_primary()); }
// raw/unfiltered measurement interface
uint32_t raw_meas_time_us(uint8_t i) const { return _state[i].raw_meas_time_us; }
uint32_t raw_meas_time_us() const { return _state[get_primary()].raw_meas_time_us; }
uint32_t unfiltered_meas_time_us(uint8_t i) const { return _state[i].raw_meas_time_us; }
uint32_t unfiltered_meas_time_us() const { return _state[get_primary()].raw_meas_time_us; }
bool has_raw_field(uint8_t i) const { return _state[i].has_raw_field; }
bool has_raw_field() const { return has_raw_field(get_primary()); }
bool has_unfiltered_field(uint8_t i) const { return _state[i].has_unfiltered_field; }
bool has_unfiltered_field() const { return has_unfiltered_field(get_primary()); }
const Vector3f &get_raw_field(uint8_t i) const { return _state[i].raw_field; }
const Vector3f &get_raw_field(void) const { return get_raw_field(get_primary()); }
const Vector3f &get_unfiltered_field(uint8_t i) const { return _state[i].unfiltered_field; }
const Vector3f &get_unfiltered_field(void) const { return get_unfiltered_field(get_primary()); }
// compass calibrator interface
void compass_cal_update();
bool start_calibration(uint8_t i, bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot = false);
bool start_calibration_all(bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot = false);
bool start_calibration_mask(uint8_t mask, bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot=false);
void cancel_calibration(uint8_t i);
void cancel_calibration_all();
void cancel_calibration_mask(uint8_t mask);
bool accept_calibration(uint8_t i);
bool accept_calibration_all();
bool accept_calibration_mask(uint8_t mask);
bool compass_cal_requires_reboot() { return _cal_complete_requires_reboot; }
bool auto_reboot() { return _compass_cal_autoreboot; }
uint8_t get_cal_mask() const;
bool is_calibrating() const;
/*
handle an incoming MAG_CAL command
*/
uint8_t handle_mag_cal_command(const mavlink_command_long_t &packet);
void send_mag_cal_progress(mavlink_channel_t chan);
void send_mag_cal_report(mavlink_channel_t chan);
// check if the compasses are pointing in the same direction
bool consistent() const;
/// Return the health of a compass
bool healthy(uint8_t i) const { return _state[i].healthy; }
bool healthy(void) const { return healthy(get_primary()); }
uint8_t get_healthy_mask() const;
/// Returns the current offset values
///
/// @returns The current compass offsets.
///
const Vector3f &get_offsets(uint8_t i) const { return _state[i].offset; }
const Vector3f &get_offsets(void) const { return get_offsets(get_primary()); }
const Vector3f get_offsets_milligauss(uint8_t i) const { return get_offsets(i) * _state[i].milligauss_ratio; }
const Vector3f get_offsets_milligauss(void) const { return get_offsets_milligauss(get_primary()); }
/// Sets the initial location used to get declination
///
/// @param latitude GPS Latitude.
/// @param longitude GPS Longitude.
///
void set_initial_location(int32_t latitude, int32_t longitude);
/// Program new offset values.
///
/// @param i compass instance
/// @param x Offset to the raw mag_x value.
/// @param y Offset to the raw mag_y value.
/// @param z Offset to the raw mag_z value.
///
void set_and_save_offsets(uint8_t i, int x, int y, int z) {
set_and_save_offsets(i, Vector3f(x, y, z));
}
// learn offsets accessor
bool learn_offsets_enabled() const { return _learn; }
/// Perform automatic offset updates
///
void learn_offsets(void);
/// return true if the compass should be used for yaw calculations
bool use_for_yaw(uint8_t i) const;
bool use_for_yaw(void) const;
/// Sets the local magnetic field declination.
///
/// @param radians Local field declination.
/// @param save_to_eeprom true to save to eeprom (false saves only to memory)
///
void set_declination(float radians, bool save_to_eeprom = true);
float get_declination() const;
// set overall board orientation
void set_board_orientation(enum Rotation orientation) {
_board_orientation = orientation;
}
/// Set the motor compensation type
///
/// @param comp_type 0 = disabled, 1 = enabled use throttle, 2 = enabled use current
///
void motor_compensation_type(const uint8_t comp_type);
/// get the motor compensation value.
uint8_t get_motor_compensation_type() const {
return _motor_comp_type;
}
/// Set the motor compensation factor x/y/z values.
///
/// @param i instance of compass
/// @param offsets Offsets multiplied by the throttle value and added to the raw mag_ values.
///
void set_motor_compensation(uint8_t i, const Vector3f &motor_comp_factor);
/// get motor compensation factors as a vector
const Vector3f& get_motor_compensation(uint8_t i) const { return _state[i].motor_compensation; }
const Vector3f& get_motor_compensation(void) const { return get_motor_compensation(get_primary()); }
/// Saves the current motor compensation x/y/z values.
///
/// This should be invoked periodically to save the offset values calculated by the motor compensation auto learning
///
void save_motor_compensation();
/// Returns the current motor compensation offset values
///
/// @returns The current compass offsets.
///
const Vector3f &get_motor_offsets(uint8_t i) const { return _state[i].motor_offset; }
const Vector3f &get_motor_offsets(void) const { return get_motor_offsets(get_primary()); }
/// Set the throttle as a percentage from 0.0 to 1.0
/// @param thr_pct throttle expressed as a percentage from 0 to 1.0
void set_throttle(float thr_pct) {
if (_motor_comp_type == AP_COMPASS_MOT_COMP_THROTTLE) {
_thr_or_curr = thr_pct;
}
}
/// Set the current used by system in amps
/// @param amps current flowing to the motors expressed in amps
void set_current(float amps) {
if (_motor_comp_type == AP_COMPASS_MOT_COMP_CURRENT) {
_thr_or_curr = amps;
}
}
/// Returns True if the compasses have been configured (i.e. offsets saved)
///
/// @returns True if compass has been configured
///
bool configured(uint8_t i);
bool configured(void);
/// Returns the instance of the primary compass
///
/// @returns the instance number of the primary compass
///
uint8_t get_primary(void) const { return _primary; }
// HIL methods
void setHIL(uint8_t instance, float roll, float pitch, float yaw);
void setHIL(uint8_t instance, const Vector3f &mag);
const Vector3f& getHIL(uint8_t instance) const;
void _setup_earth_field();
// enable HIL mode
void set_hil_mode(void) { _hil_mode = true; }
// return last update time in microseconds
uint32_t last_update_usec(void) const { return _state[get_primary()].last_update_usec; }
static const struct AP_Param::GroupInfo var_info[];
// HIL variables
struct {
Vector3f Bearth;
float last_declination;
bool healthy[COMPASS_MAX_INSTANCES];
Vector3f field[COMPASS_MAX_INSTANCES];
} _hil;
private:
/// Register a new compas driver, allocating an instance number
///
/// @return number of compass instances
uint8_t register_compass(void);
// load backend drivers
void _add_backend(AP_Compass_Backend *backend);
void _detect_backends(void);
//keep track of number of calibration reports sent
uint8_t _reports_sent[COMPASS_MAX_INSTANCES];
//autoreboot after compass calibration
bool _compass_cal_autoreboot;
bool _cal_complete_requires_reboot;
bool _cal_has_run;
// backend objects
AP_Compass_Backend *_backends[COMPASS_MAX_BACKEND];
uint8_t _backend_count;
// number of registered compasses.
uint8_t _compass_count;
// settable parameters
AP_Int8 _learn;
// board orientation from AHRS
enum Rotation _board_orientation;
// primary instance
AP_Int8 _primary;
// declination in radians
AP_Float _declination;
// enable automatic declination code
AP_Int8 _auto_declination;
// first-time-around flag used by offset nulling
bool _null_init_done;
// used by offset correction
static const uint8_t _mag_history_size = 20;
// motor compensation type
// 0 = disabled, 1 = enabled for throttle, 2 = enabled for current
AP_Int8 _motor_comp_type;
// throttle expressed as a percentage from 0 ~ 1.0 or current expressed in amps
float _thr_or_curr;
struct mag_state {
AP_Int8 external;
bool healthy;
AP_Int8 orientation;
AP_Vector3f offset;
AP_Vector3f diagonals;
AP_Vector3f offdiagonals;
#if COMPASS_MAX_INSTANCES > 1
// device id detected at init.
// saved to eeprom when offsets are saved allowing ram &
// eeprom values to be compared as consistency check
AP_Int32 dev_id;
#endif
AP_Int8 use_for_yaw;
uint8_t mag_history_index;
Vector3i mag_history[_mag_history_size];
// factors multiplied by throttle and added to compass outputs
AP_Vector3f motor_compensation;
// latest compensation added to compass
Vector3f motor_offset;
// corrected magnetic field strength
Vector3f field;
float milligauss_ratio;
// when we last got data
uint32_t last_update_ms;
uint32_t last_update_usec;
uint32_t raw_meas_time_us;
bool has_raw_field;
bool has_unfiltered_field;
bool updated_raw_field;
bool updated_unfiltered_field;
Vector3f raw_field;
Vector3f unfiltered_field;
} _state[COMPASS_MAX_INSTANCES];
CompassCalibrator _calibrator[COMPASS_MAX_INSTANCES];
// if we want HIL only
bool _hil_mode:1;
AP_Float _calibration_threshold;
};
#include "AP_Compass_Backend.h"
#include "AP_Compass_HMC5843.h"
#include "AP_Compass_HIL.h"
#include "AP_Compass_AK8963.h"
#include "AP_Compass_PX4.h"
#include "AP_Compass_LSM303D.h"
#endif