mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-13 11:28:30 -04:00
ddb823829d
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
57 lines
2.8 KiB
C++
57 lines
2.8 KiB
C++
#ifndef AP_Compass_HMC5843_H
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#define AP_Compass_HMC5843_H
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#include "../AP_Common/AP_Common.h"
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#include "../AP_Math/AP_Math.h"
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#include "Compass.h"
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// orientations for DIYDrones magnetometer
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#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD ROTATION_NONE
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#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_45
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#define AP_COMPASS_COMPONENTS_UP_PINS_RIGHT ROTATION_YAW_90
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#define AP_COMPASS_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_135
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#define AP_COMPASS_COMPONENTS_UP_PINS_BACK ROTATION_YAW_180
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#define AP_COMPASS_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_225
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#define AP_COMPASS_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_270
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#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_315
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_45
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_RIGHT ROTATION_ROLL_180_YAW_90
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_135
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK ROTATION_PITCH_180
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_225
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180_YAW_270
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_315
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// orientations for Sparkfun magnetometer
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD ROTATION_YAW_270
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_315
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_RIGHT ROTATION_NONE
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_45
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK ROTATION_YAW_90
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_135
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_180
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_225
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180_YAW_90
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_135
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_RIGHT ROTATION_PITCH_180
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_225
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK ROTATION_ROLL_180_YAW_270
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_315
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_45
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class AP_Compass_HMC5843 : public Compass
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{
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private:
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float calibration[3];
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public:
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AP_Compass_HMC5843(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) {}
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virtual bool init();
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virtual void read();
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virtual void set_orientation(const Matrix3f &rotation_matrix);
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};
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#endif
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