mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-06 16:08:28 -04:00
20a4a42cb3
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.
110 lines
3.1 KiB
C++
110 lines
3.1 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#include "AP_Compass_qflight.h"
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#include <AP_HAL_Linux/qflight/qflight_util.h>
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#include <AP_HAL_Linux/qflight/qflight_dsp.h>
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#include "AP_Compass_qflight.h"
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#include <unistd.h>
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extern const AP_HAL::HAL& hal;
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// constructor
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AP_Compass_QFLIGHT::AP_Compass_QFLIGHT(Compass &compass):
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AP_Compass_Backend(compass)
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{
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}
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// detect the sensor
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AP_Compass_Backend *AP_Compass_QFLIGHT::detect(Compass &compass)
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{
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AP_Compass_QFLIGHT *sensor = new AP_Compass_QFLIGHT(compass);
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if (sensor == NULL) {
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return NULL;
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}
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if (!sensor->init()) {
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delete sensor;
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return NULL;
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}
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return sensor;
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}
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bool AP_Compass_QFLIGHT::init(void)
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{
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instance = register_compass();
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_QFLIGHT::timer_update, void));
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// give time for at least one sample
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hal.scheduler->delay(100);
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return true;
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}
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void AP_Compass_QFLIGHT::read(void)
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{
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if (count > 0) {
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hal.scheduler->suspend_timer_procs();
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publish_filtered_field(sum/count, instance);
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sum.zero();
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count = 0;
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hal.scheduler->resume_timer_procs();
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}
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}
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void AP_Compass_QFLIGHT::timer_update(void)
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{
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uint32_t now = AP_HAL::millis();
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if (now - last_check_ms < 25) {
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return;
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}
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last_check_ms = now;
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if (magbuf == nullptr) {
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magbuf = QFLIGHT_RPC_ALLOCATE(DSPBuffer::MAG);
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if (magbuf == nullptr) {
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AP_HAL::panic("unable to allocate MAG buffer");
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}
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}
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int ret = qflight_get_mag_data((uint8_t *)magbuf, sizeof(*magbuf));
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if (ret != 0) {
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return;
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}
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uint64_t time_us = AP_HAL::micros64();
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for (uint16_t i=0; i<magbuf->num_samples; i++) {
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DSPBuffer::MAG::BUF &b = magbuf->buf[i];
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// get raw_field - sensor frame, uncorrected
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Vector3f raw_field(b.mag_raw[0], b.mag_raw[1], -b.mag_raw[2]);
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// rotate raw_field from sensor frame to body frame
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rotate_field(raw_field, instance);
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// publish raw_field (uncorrected point sample) for calibration use
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publish_raw_field(raw_field, time_us, instance);
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// correct raw_field for known errors
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correct_field(raw_field, instance);
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// accumulate into averaging filter
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sum += raw_field;
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count++;
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}
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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