mirror of https://github.com/ArduPilot/ardupilot
470 lines
15 KiB
C++
470 lines
15 KiB
C++
#pragma once
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#include <inttypes.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Declination/AP_Declination.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include "CompassCalibrator.h"
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#include "AP_Compass_Backend.h"
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#include "Compass_PerMotor.h"
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// motor compensation types (for use with motor_comp_enabled)
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#define AP_COMPASS_MOT_COMP_DISABLED 0x00
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#define AP_COMPASS_MOT_COMP_THROTTLE 0x01
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#define AP_COMPASS_MOT_COMP_CURRENT 0x02
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#define AP_COMPASS_MOT_COMP_PER_MOTOR 0x03
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// setup default mag orientation for some board types
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#ifndef MAG_BOARD_ORIENTATION
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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# define MAG_BOARD_ORIENTATION ROTATION_YAW_90
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI)
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# define MAG_BOARD_ORIENTATION ROTATION_YAW_270
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#else
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# define MAG_BOARD_ORIENTATION ROTATION_NONE
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#endif
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#endif
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// define default compass calibration fitness and consistency checks
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#define AP_COMPASS_CALIBRATION_FITNESS_DEFAULT 16.0f
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#define AP_COMPASS_MAX_XYZ_ANG_DIFF radians(90.0f)
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#define AP_COMPASS_MAX_XY_ANG_DIFF radians(60.0f)
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#define AP_COMPASS_MAX_XY_LENGTH_DIFF 200.0f
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/**
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maximum number of compass instances available on this platform. If more
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than 1 then redundant sensors may be available
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*/
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#define COMPASS_MAX_INSTANCES 3
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#define COMPASS_MAX_BACKEND 3
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class Compass
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{
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friend class AP_Compass_Backend;
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public:
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Compass();
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/* Do not allow copies */
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Compass(const Compass &other) = delete;
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Compass &operator=(const Compass&) = delete;
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friend class CompassLearn;
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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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bool init();
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/// Read the compass and update the mag_ variables.
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///
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bool read();
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/// use spare CPU cycles to accumulate values from the compass if
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/// possible (this method should also be implemented in the backends)
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void accumulate();
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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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float calculate_heading(const Matrix3f &dcm_matrix) const {
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return calculate_heading(dcm_matrix, get_primary());
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}
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float calculate_heading(const Matrix3f &dcm_matrix, uint8_t i) const;
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/// Sets offset x/y/z values.
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///
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/// @param i compass instance
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/// @param offsets Offsets to the raw mag_ values in milligauss.
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///
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void set_offsets(uint8_t i, const Vector3f &offsets);
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/// Sets and saves the compass offset x/y/z values.
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///
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/// @param i compass instance
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/// @param offsets Offsets to the raw mag_ values in milligauss.
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///
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void set_and_save_offsets(uint8_t i, const Vector3f &offsets);
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void set_and_save_diagonals(uint8_t i, const Vector3f &diagonals);
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void set_and_save_offdiagonals(uint8_t i, const Vector3f &diagonals);
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/// Saves the current offset x/y/z values for one or all compasses
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///
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/// @param i compass instance
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///
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/// This should be invoked periodically to save the offset values maintained by
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/// ::learn_offsets.
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///
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void save_offsets(uint8_t i);
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void save_offsets(void);
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// return the number of compass instances
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uint8_t get_count(void) const { return _compass_count; }
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/// Return the current field as a Vector3f in milligauss
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const Vector3f &get_field(uint8_t i) const { return _state[i].field; }
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const Vector3f &get_field(void) const { return get_field(get_primary()); }
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// compass calibrator interface
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void compass_cal_update();
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// per-motor calibration access
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void per_motor_calibration_start(void) {
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_per_motor.calibration_start();
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}
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void per_motor_calibration_update(void) {
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_per_motor.calibration_update();
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}
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void per_motor_calibration_end(void) {
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_per_motor.calibration_end();
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}
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void start_calibration_all(bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot = false);
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void cancel_calibration_all();
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bool compass_cal_requires_reboot() { return _cal_complete_requires_reboot; }
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bool is_calibrating() const;
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/*
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handle an incoming MAG_CAL command
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*/
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MAV_RESULT handle_mag_cal_command(const mavlink_command_long_t &packet);
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void send_mag_cal_progress(mavlink_channel_t chan);
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void send_mag_cal_report(mavlink_channel_t chan);
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// check if the compasses are pointing in the same direction
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bool consistent() const;
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/// Return the health of a compass
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bool healthy(uint8_t i) const { return _state[i].healthy; }
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bool healthy(void) const { return healthy(get_primary()); }
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uint8_t get_healthy_mask() const;
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/// Returns the current offset values
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///
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/// @returns The current compass offsets in milligauss.
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///
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const Vector3f &get_offsets(uint8_t i) const { return _state[i].offset; }
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const Vector3f &get_offsets(void) const { return get_offsets(get_primary()); }
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const Vector3f &get_diagonals(uint8_t i) const { return _state[i].diagonals; }
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const Vector3f &get_diagonals(void) const { return get_diagonals(get_primary()); }
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const Vector3f &get_offdiagonals(uint8_t i) const { return _state[i].offdiagonals; }
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const Vector3f &get_offdiagonals(void) const { return get_offdiagonals(get_primary()); }
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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 i compass instance
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/// @param x Offset to the raw mag_x value in milligauss.
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/// @param y Offset to the raw mag_y value in milligauss.
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/// @param z Offset to the raw mag_z value in milligauss.
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///
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void set_and_save_offsets(uint8_t i, int x, int y, int z) {
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set_and_save_offsets(i, Vector3f(x, y, z));
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}
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// learn offsets accessor
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bool learn_offsets_enabled() const { return _learn; }
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/// return true if the compass should be used for yaw calculations
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bool use_for_yaw(uint8_t i) const;
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bool use_for_yaw(void) const;
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void set_use_for_yaw(uint8_t i, bool use) {
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_state[i].use_for_yaw.set(use);
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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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/// @param save_to_eeprom true to save to eeprom (false saves only to memory)
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///
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void set_declination(float radians, bool save_to_eeprom = true);
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float get_declination() const;
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// set overall board orientation
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void set_board_orientation(enum Rotation orientation, Matrix3f* custom_rotation = nullptr) {
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_board_orientation = orientation;
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_custom_rotation = custom_rotation;
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}
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/// Set the motor compensation type
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///
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/// @param comp_type 0 = disabled, 1 = enabled use throttle, 2 = enabled use current
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///
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void motor_compensation_type(const uint8_t comp_type);
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/// get the motor compensation value.
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uint8_t get_motor_compensation_type() const {
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return _motor_comp_type;
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}
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/// Set the motor compensation factor x/y/z values.
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///
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/// @param i instance of compass
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/// @param offsets Offsets multiplied by the throttle value and added to the raw mag_ values.
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///
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void set_motor_compensation(uint8_t i, const Vector3f &motor_comp_factor);
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/// get motor compensation factors as a vector
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const Vector3f& get_motor_compensation(uint8_t i) const { return _state[i].motor_compensation; }
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const Vector3f& get_motor_compensation(void) const { return get_motor_compensation(get_primary()); }
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/// Saves the current motor compensation x/y/z values.
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///
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/// This should be invoked periodically to save the offset values calculated by the motor compensation auto learning
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///
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void save_motor_compensation();
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/// Returns the current motor compensation offset values
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///
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/// @returns The current compass offsets in milligauss.
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///
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const Vector3f &get_motor_offsets(uint8_t i) const { return _state[i].motor_offset; }
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const Vector3f &get_motor_offsets(void) const { return get_motor_offsets(get_primary()); }
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/// Set the throttle as a percentage from 0.0 to 1.0
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/// @param thr_pct throttle expressed as a percentage from 0 to 1.0
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void set_throttle(float thr_pct) {
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if (_motor_comp_type == AP_COMPASS_MOT_COMP_THROTTLE) {
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_thr = thr_pct;
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}
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}
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/// Set the battery voltage for per-motor compensation
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void set_voltage(float voltage) {
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_per_motor.set_voltage(voltage);
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}
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/// Returns True if the compasses have been configured (i.e. offsets saved)
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///
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/// @returns True if compass has been configured
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///
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bool configured(uint8_t i);
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bool configured(void);
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/// Returns the instance of the primary compass
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///
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/// @returns the instance number of the primary compass
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///
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uint8_t get_primary(void) const { return _primary; }
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// HIL methods
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void setHIL(uint8_t instance, float roll, float pitch, float yaw);
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void setHIL(uint8_t instance, const Vector3f &mag, uint32_t last_update_usec);
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const Vector3f& getHIL(uint8_t instance) const;
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void _setup_earth_field();
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// enable HIL mode
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void set_hil_mode(void) { _hil_mode = true; }
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// return last update time in microseconds
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uint32_t last_update_usec(void) const { return _state[get_primary()].last_update_usec; }
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uint32_t last_update_usec(uint8_t i) const { return _state[i].last_update_usec; }
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uint32_t last_update_ms(void) const { return _state[get_primary()].last_update_ms; }
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uint32_t last_update_ms(uint8_t i) const { return _state[i].last_update_ms; }
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static const struct AP_Param::GroupInfo var_info[];
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// HIL variables
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struct {
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Vector3f Bearth;
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float last_declination;
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bool healthy[COMPASS_MAX_INSTANCES];
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Vector3f field[COMPASS_MAX_INSTANCES];
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} _hil;
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enum LearnType {
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LEARN_NONE=0,
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LEARN_INTERNAL=1,
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LEARN_EKF=2,
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LEARN_INFLIGHT=3
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};
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// return the chosen learning type
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enum LearnType get_learn_type(void) const {
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return (enum LearnType)_learn.get();
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}
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// set the learning type
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void set_learn_type(enum LearnType type, bool save) {
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if (save) {
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_learn.set_and_save((int8_t)type);
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} else {
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_learn.set((int8_t)type);
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}
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}
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// return maximum allowed compass offsets
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uint16_t get_offsets_max(void) const {
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return (uint16_t)_offset_max.get();
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}
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uint8_t get_filter_range() const { return uint8_t(_filter_range.get()); }
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private:
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/// Register a new compas driver, allocating an instance number
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///
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/// @return number of compass instances
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uint8_t register_compass(void);
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// load backend drivers
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bool _add_backend(AP_Compass_Backend *backend, const char *name, bool external);
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void _detect_backends(void);
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// compass cal
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bool _accept_calibration(uint8_t i);
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bool _accept_calibration_mask(uint8_t mask);
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void _cancel_calibration(uint8_t i);
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void _cancel_calibration_mask(uint8_t mask);
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uint8_t _get_cal_mask() const;
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bool _start_calibration(uint8_t i, bool retry=false, float delay_sec=0.0f);
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bool _start_calibration_mask(uint8_t mask, bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot=false);
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bool _auto_reboot() { return _compass_cal_autoreboot; }
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// see if we already have probed a driver by bus type
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bool _have_driver(AP_HAL::Device::BusType bus_type, uint8_t bus_num, uint8_t address, uint8_t devtype) const;
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//keep track of which calibrators have been saved
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bool _cal_saved[COMPASS_MAX_INSTANCES];
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bool _cal_autosave;
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//autoreboot after compass calibration
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bool _compass_cal_autoreboot;
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bool _cal_complete_requires_reboot;
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bool _cal_has_run;
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// enum of drivers for COMPASS_TYPEMASK
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enum DriverType {
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DRIVER_HMC5883 =0,
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DRIVER_LSM303D =1,
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DRIVER_AK8963 =2,
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DRIVER_BMM150 =3,
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DRIVER_LSM9DS1 =4,
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DRIVER_LIS3MDL =5,
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DRIVER_AK09916 =6,
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DRIVER_IST8310 =7,
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DRIVER_ICM20948 =8,
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DRIVER_MMC3416 =9,
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DRIVER_QFLIGHT =10,
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DRIVER_UAVCAN =11,
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DRIVER_QMC5883 =12,
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DRIVER_SITL =13,
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DRIVER_MAG3110 =14,
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};
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bool _driver_enabled(enum DriverType driver_type);
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// backend objects
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AP_Compass_Backend *_backends[COMPASS_MAX_BACKEND];
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uint8_t _backend_count;
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// number of registered compasses.
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uint8_t _compass_count;
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// settable parameters
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AP_Int8 _learn;
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// board orientation from AHRS
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enum Rotation _board_orientation;
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Matrix3f* _custom_rotation;
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// primary instance
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AP_Int8 _primary;
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// declination in radians
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AP_Float _declination;
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// enable automatic declination code
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AP_Int8 _auto_declination;
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// first-time-around flag used by offset nulling
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bool _null_init_done;
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// used by offset correction
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static const uint8_t _mag_history_size = 20;
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// motor compensation type
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// 0 = disabled, 1 = enabled for throttle, 2 = enabled for current
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AP_Int8 _motor_comp_type;
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// throttle expressed as a percentage from 0 ~ 1.0, used for motor compensation
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float _thr;
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struct mag_state {
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AP_Int8 external;
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bool healthy;
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AP_Int8 orientation;
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AP_Vector3f offset;
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AP_Vector3f diagonals;
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AP_Vector3f offdiagonals;
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// device id detected at init.
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// saved to eeprom when offsets are saved allowing ram &
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// eeprom values to be compared as consistency check
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AP_Int32 dev_id;
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AP_Int8 use_for_yaw;
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uint8_t mag_history_index;
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Vector3i mag_history[_mag_history_size];
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// factors multiplied by throttle and added to compass outputs
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AP_Vector3f motor_compensation;
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// latest compensation added to compass
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Vector3f motor_offset;
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// corrected magnetic field strength
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Vector3f field;
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// when we last got data
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uint32_t last_update_ms;
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uint32_t last_update_usec;
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// board specific orientation
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enum Rotation rotation;
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} _state[COMPASS_MAX_INSTANCES];
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AP_Int16 _offset_max;
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CompassCalibrator _calibrator[COMPASS_MAX_INSTANCES];
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// per-motor compass compensation
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Compass_PerMotor _per_motor{*this};
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// if we want HIL only
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bool _hil_mode:1;
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AP_Float _calibration_threshold;
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// mask of driver types to not load. Bit positions match DEVTYPE_ in backend
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AP_Int32 _driver_type_mask;
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AP_Int8 _filter_range;
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};
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