mirror of https://github.com/ArduPilot/ardupilot
79 lines
4.3 KiB
C++
79 lines
4.3 KiB
C++
#ifndef AP_Compass_HMC5843_H
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#define AP_Compass_HMC5843_H
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#include "Compass.h"
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#include "../AP_Math/AP_Math.h"
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// Rotation matrices
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#define ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1)
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#define ROTATION_YAW_45 Matrix3f(0.70710678, -0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, 1)
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#define ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
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#define ROTATION_YAW_135 Matrix3f(-0.70710678, -0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, 1)
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#define ROTATION_YAW_180 Matrix3f(-1, 0, 0, 0, -1, 0, 0, 0, 1)
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#define ROTATION_YAW_225 Matrix3f(-0.70710678, 0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, 1)
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#define ROTATION_YAW_270 Matrix3f(0, 1, 0, -1, 0, 0, 0, 0, 1)
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#define ROTATION_YAW_315 Matrix3f(0.70710678, 0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, 1)
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#define ROTATION_ROLL_180 Matrix3f(1, 0, 0, 0, -1, 0, 0, 0, -1)
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#define ROTATION_ROLL_180_YAW_45 Matrix3f(0.70710678, 0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, -1)
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#define ROTATION_ROLL_180_YAW_90 Matrix3f(0, 1, 0, 1, 0, 0, 0, 0, -1)
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#define ROTATION_ROLL_180_YAW_135 Matrix3f(-0.70710678, 0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, -1)
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#define ROTATION_PITCH_180 Matrix3f(-1, 0, 0, 0, 1, 0, 0, 0, -1)
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#define ROTATION_ROLL_180_YAW_225 Matrix3f(-0.70710678, -0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, -1)
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#define ROTATION_ROLL_180_YAW_270 Matrix3f(0, -1, 0, -1, 0, 0, 0, 0, -1)
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#define ROTATION_ROLL_180_YAW_315 Matrix3f(0.70710678, -0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, -1)
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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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int orientation;
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Matrix3f orientation_matrix;
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float calibration[3];
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int offset[3];
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float declination;
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public:
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AP_Compass_HMC5843(); // Constructor
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bool init(int initialiseWireLib = 1);
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void read();
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void calculate(float roll, float pitch);
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void set_orientation(const Matrix3f &rotation_matrix);
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void set_offsets(int x, int y, int z);
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void set_declination(float radians);
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};
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#endif
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