mirror of https://github.com/ArduPilot/ardupilot
94 lines
2.5 KiB
C++
94 lines
2.5 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
|
|
#include "AP_Compass_QURT.h"
|
|
#include <AP_InertialSensor/AP_InertialSensor_QURT.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
// Public Methods //////////////////////////////////////////////////////////////
|
|
|
|
// constructor
|
|
AP_Compass_QURT::AP_Compass_QURT(Compass &compass):
|
|
AP_Compass_Backend(compass)
|
|
{
|
|
}
|
|
|
|
// detect the sensor
|
|
AP_Compass_Backend *AP_Compass_QURT::detect(Compass &compass)
|
|
{
|
|
AP_Compass_QURT *sensor = new AP_Compass_QURT(compass);
|
|
if (sensor == nullptr) {
|
|
return nullptr;
|
|
}
|
|
if (!sensor->init()) {
|
|
delete sensor;
|
|
return nullptr;
|
|
}
|
|
return sensor;
|
|
}
|
|
|
|
bool AP_Compass_QURT::init(void)
|
|
{
|
|
instance = register_compass();
|
|
// publish a zero as a hack
|
|
publish_filtered_field(Vector3f(), instance);
|
|
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_QURT::timer_update, void));
|
|
return true;
|
|
}
|
|
|
|
void AP_Compass_QURT::read(void)
|
|
{
|
|
// avoid division by zero if we haven't received any mag reports
|
|
if (count != 0) {
|
|
sum /= count;
|
|
publish_filtered_field(sum, instance);
|
|
sum.zero();
|
|
count = 0;
|
|
}
|
|
}
|
|
|
|
void AP_Compass_QURT::timer_update(void)
|
|
{
|
|
// cope the data
|
|
struct mpu9x50_data data;
|
|
if (mpu9250_mag_buffer == nullptr || !mpu9250_mag_buffer->pop(data)) {
|
|
return;
|
|
}
|
|
|
|
Vector3f raw_field(data.mag_raw[0],
|
|
data.mag_raw[1],
|
|
-data.mag_raw[2]);
|
|
|
|
// rotate raw_field from sensor frame to body frame
|
|
rotate_field(raw_field, instance);
|
|
|
|
// publish raw_field (uncorrected point sample) for calibration use
|
|
publish_raw_field(raw_field, instance);
|
|
|
|
// correct raw_field for known errors
|
|
correct_field(raw_field, instance);
|
|
|
|
// accumulate into averaging filter
|
|
sum += raw_field;
|
|
count++;
|
|
}
|
|
|
|
#endif // CONFIG_HAL_BOARD
|