mirror of https://github.com/ArduPilot/ardupilot
150 lines
4.7 KiB
C++
150 lines
4.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
#ifndef Compass_h
|
|
#define Compass_h
|
|
|
|
#include <inttypes.h>
|
|
#include <AP_Common.h>
|
|
#include <AP_Param.h>
|
|
#include <AP_Math.h>
|
|
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
|
|
|
|
// 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
|
|
|
|
class Compass
|
|
{
|
|
public:
|
|
int16_t product_id; /// product id
|
|
int16_t mag_x; ///< magnetic field strength along the X axis
|
|
int16_t mag_y; ///< magnetic field strength along the Y axis
|
|
int16_t mag_z; ///< magnetic field strength along the Z axis
|
|
uint32_t last_update; ///< micros() time of last update
|
|
bool healthy; ///< true if last read OK
|
|
|
|
/// Constructor
|
|
///
|
|
Compass();
|
|
|
|
/// Initialize the compass device.
|
|
///
|
|
/// @returns True if the compass was initialized OK, false if it was not
|
|
/// found or is not functioning.
|
|
///
|
|
virtual bool init();
|
|
|
|
/// Read the compass and update the mag_ variables.
|
|
///
|
|
virtual bool read(void) = 0;
|
|
|
|
/// use spare CPU cycles to accumulate values from the compass if
|
|
/// possible
|
|
virtual void accumulate(void) = 0;
|
|
|
|
/// Calculate the tilt-compensated heading_ variables.
|
|
///
|
|
/// @param roll The current airframe roll angle.
|
|
/// @param pitch The current airframe pitch angle.
|
|
///
|
|
/// @returns heading in radians
|
|
///
|
|
virtual float calculate_heading(float roll, float pitch);
|
|
|
|
/// Calculate the tilt-compensated heading_ variables.
|
|
///
|
|
/// @param dcm_matrix The current orientation rotation matrix
|
|
///
|
|
/// @returns heading in radians
|
|
///
|
|
virtual float calculate_heading(const Matrix3f &dcm_matrix);
|
|
|
|
/// Set the compass orientation matrix, used to correct for
|
|
/// various compass mounting positions.
|
|
///
|
|
/// @param rotation_matrix Rotation matrix to transform magnetometer readings
|
|
/// to the body frame.
|
|
///
|
|
virtual void set_orientation(enum Rotation rotation);
|
|
|
|
/// Sets the compass offset x/y/z values.
|
|
///
|
|
/// @param offsets Offsets to the raw mag_ values.
|
|
///
|
|
virtual void set_offsets(const Vector3f &offsets);
|
|
|
|
/// Saves the current compass offset x/y/z values.
|
|
///
|
|
/// This should be invoked periodically to save the offset values maintained by
|
|
/// ::null_offsets.
|
|
///
|
|
virtual void save_offsets();
|
|
|
|
/// Returns the current offset values
|
|
///
|
|
/// @returns The current compass offsets.
|
|
///
|
|
virtual Vector3f &get_offsets();
|
|
|
|
/// 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 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_offsets(int x, int y, int z) {
|
|
set_offsets(Vector3f(x, y, z));
|
|
}
|
|
|
|
/// Perform automatic offset updates
|
|
///
|
|
void null_offsets(void);
|
|
|
|
/// return true if the compass should be used for yaw calculations
|
|
bool use_for_yaw(void) {
|
|
return healthy && _use_for_yaw;
|
|
}
|
|
|
|
/// Sets the local magnetic field declination.
|
|
///
|
|
/// @param radians Local field declination.
|
|
///
|
|
virtual void set_declination(float radians);
|
|
float get_declination();
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
// set overall board orientation
|
|
void set_board_orientation(enum Rotation orientation) {
|
|
_board_orientation = orientation;
|
|
}
|
|
|
|
protected:
|
|
enum Rotation _orientation;
|
|
AP_Vector3f _offset;
|
|
AP_Float _declination;
|
|
AP_Int8 _learn; ///<enable calibration learning
|
|
AP_Int8 _use_for_yaw; ///<enable use for yaw calculation
|
|
AP_Int8 _auto_declination; ///<enable automatic declination code
|
|
|
|
bool _null_init_done; ///< first-time-around flag used by offset nulling
|
|
|
|
///< used by offset correction
|
|
static const uint8_t _mag_history_size = 20;
|
|
uint8_t _mag_history_index;
|
|
Vector3i _mag_history[_mag_history_size];
|
|
|
|
// board orientation from AHRS
|
|
enum Rotation _board_orientation;
|
|
};
|
|
#endif
|