mirror of https://github.com/ArduPilot/ardupilot
140 lines
4.5 KiB
C++
140 lines
4.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef Compass_h
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#define Compass_h
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#include <inttypes.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 "../AP_Declination/AP_Declination.h" // ArduPilot Mega Declination Helper Library
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// compass product id
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#define AP_COMPASS_TYPE_UNKNOWN 0x00
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#define AP_COMPASS_TYPE_HIL 0x01
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#define AP_COMPASS_TYPE_HMC5843 0x02
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#define AP_COMPASS_TYPE_HMC5883L 0x03
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class Compass
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{
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public:
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int16_t product_id; /// product id
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int16_t mag_x; ///< magnetic field strength along the X axis
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int16_t mag_y; ///< magnetic field strength along the Y axis
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int16_t mag_z; ///< magnetic field strength along the Z axis
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uint32_t last_update; ///< micros() time of last update
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bool healthy; ///< true if last read OK
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/// Constructor
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///
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Compass();
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/// Initialize the compass device.
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///
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/// @returns True if the compass was initialized OK, false if it was not
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/// found or is not functioning.
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///
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virtual bool init();
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/// Read the compass and update the mag_ variables.
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///
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virtual bool read(void) = 0;
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/// use spare CPU cycles to accumulate values from the compass if
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/// possible
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virtual void accumulate(void) = 0;
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/// Calculate the tilt-compensated heading_ variables.
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///
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/// @param roll The current airframe roll angle.
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/// @param pitch The current airframe pitch angle.
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///
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/// @returns heading in radians
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///
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virtual float calculate_heading(float roll, float pitch);
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/// Calculate the tilt-compensated heading_ variables.
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///
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/// @param dcm_matrix The current orientation rotation matrix
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///
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/// @returns heading in radians
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///
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virtual float calculate_heading(const Matrix3f &dcm_matrix);
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/// Set the compass orientation matrix, used to correct for
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/// various compass mounting positions.
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///
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/// @param rotation_matrix Rotation matrix to transform magnetometer readings
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/// to the body frame.
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///
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virtual void set_orientation(enum Rotation rotation);
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/// Sets the compass offset x/y/z values.
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///
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/// @param offsets Offsets to the raw mag_ values.
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///
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virtual void set_offsets(const Vector3f &offsets);
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/// Saves the current compass offset x/y/z values.
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///
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/// This should be invoked periodically to save the offset values maintained by
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/// ::null_offsets.
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///
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virtual void save_offsets();
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/// Returns the current offset values
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///
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/// @returns The current compass offsets.
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///
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virtual Vector3f &get_offsets();
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/// Sets the initial location used to get declination
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///
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/// @param latitude GPS Latitude.
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/// @param longitude GPS Longitude.
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///
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void set_initial_location(int32_t latitude, int32_t longitude);
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/// Program new offset values.
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///
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/// @param x Offset to the raw mag_x value.
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/// @param y Offset to the raw mag_y value.
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/// @param z Offset to the raw mag_z value.
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///
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void set_offsets(int x, int y, int z) {
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set_offsets(Vector3f(x, y, z));
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}
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/// Perform automatic offset updates
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///
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void null_offsets(void);
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/// return true if the compass should be used for yaw calculations
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bool use_for_yaw(void) {
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return healthy && _use_for_yaw;
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}
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/// Sets the local magnetic field declination.
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///
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/// @param radians Local field declination.
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///
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virtual void set_declination(float radians);
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float get_declination();
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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enum Rotation _orientation;
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AP_Vector3f _offset;
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AP_Float _declination;
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AP_Int8 _learn; ///<enable calibration learning
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AP_Int8 _use_for_yaw; ///<enable use for yaw calculation
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AP_Int8 _auto_declination; ///<enable automatic declination code
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bool _null_init_done; ///< first-time-around flag used by offset nulling
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///< used by offset correction
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static const uint8_t _mag_history_size = 20;
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uint8_t _mag_history_index;
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Vector3i _mag_history[_mag_history_size];
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};
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#endif
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