mirror of https://github.com/ArduPilot/ardupilot
105 lines
2.5 KiB
C++
105 lines
2.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* AP_Compass_PX4.cpp - Arduino Library for PX4 magnetometer
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*
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* This library is free software; you can redistribute it and / or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*/
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "AP_Compass_PX4.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_mag.h>
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#include <stdio.h>
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#include <errno.h>
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extern const AP_HAL::HAL& hal;
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// Public Methods //////////////////////////////////////////////////////////////
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bool AP_Compass_PX4::init(void)
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{
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_mag_fd = open(MAG_DEVICE_PATH, O_RDONLY);
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if (_mag_fd < 0) {
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hal.console->printf("Unable to open " MAG_DEVICE_PATH);
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return false;
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}
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/* set the mag internal poll rate to at least 150Hz */
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ioctl(_mag_fd, MAGIOCSSAMPLERATE, 150);
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/* set the driver to poll at 150Hz */
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ioctl(_mag_fd, SENSORIOCSPOLLRATE, 150);
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// average over up to 10 samples
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ioctl(_mag_fd, SENSORIOCSQUEUEDEPTH, 10);
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healthy = false;
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_count = 0;
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_sum.zero();
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return true;
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}
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bool AP_Compass_PX4::read(void)
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{
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accumulate();
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while (_count == 0) {
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accumulate();
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if (_count == 0) {
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hal.scheduler->delay(1);
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}
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}
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_sum /= _count;
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_sum *= 1000;
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_sum.rotate(_orientation);
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_sum.rotate(_board_orientation);
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_sum += _offset.get();
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// apply motor compensation
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if(_motor_comp_type != AP_COMPASS_MOT_COMP_DISABLED && _thr_or_curr != 0.0f) {
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_motor_offset = _motor_compensation.get() * _thr_or_curr;
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_sum += _motor_offset;
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}else{
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_motor_offset.x = 0;
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_motor_offset.y = 0;
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_motor_offset.z = 0;
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}
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mag_x = _sum.x;
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mag_y = _sum.y;
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mag_z = _sum.z;
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_sum.zero();
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_count = 0;
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last_update = _last_timestamp;
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return true;
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}
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void AP_Compass_PX4::accumulate(void)
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{
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struct mag_report mag_report;
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while (::read(_mag_fd, &mag_report, sizeof(mag_report)) == sizeof(mag_report) &&
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mag_report.timestamp != _last_timestamp) {
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_sum += Vector3f(mag_report.x, mag_report.y, mag_report.z);
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_count++;
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_last_timestamp = mag_report.timestamp;
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healthy = true;
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}
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}
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#endif // CONFIG_HAL_BOARD
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