ardupilot/libraries/AP_Compass/AP_Compass_qflight.cpp

113 lines
3.2 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
#include "AP_Compass_qflight.h"
#include <AP_HAL_Linux/qflight/qflight_util.h>
#include <AP_HAL_Linux/qflight/qflight_dsp.h>
#include "AP_Compass_qflight.h"
#include <unistd.h>
extern const AP_HAL::HAL& hal;
// constructor
AP_Compass_QFLIGHT::AP_Compass_QFLIGHT(Compass &compass):
AP_Compass_Backend(compass)
{
}
// detect the sensor
AP_Compass_Backend *AP_Compass_QFLIGHT::detect(Compass &compass)
{
AP_Compass_QFLIGHT *sensor = new AP_Compass_QFLIGHT(compass);
if (sensor == NULL) {
return NULL;
}
if (!sensor->init()) {
delete sensor;
return NULL;
}
return sensor;
}
bool AP_Compass_QFLIGHT::init(void)
{
instance = register_compass();
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_QFLIGHT::timer_update, void));
// give time for at least one sample
hal.scheduler->delay(100);
return true;
}
void AP_Compass_QFLIGHT::read(void)
{
if (count > 0) {
hal.scheduler->suspend_timer_procs();
publish_filtered_field(sum/count, instance);
sum.zero();
count = 0;
hal.scheduler->resume_timer_procs();
}
}
void AP_Compass_QFLIGHT::timer_update(void)
{
uint32_t now = AP_HAL::millis();
if (now - last_check_ms < 25) {
return;
}
last_check_ms = now;
if (magbuf == nullptr) {
magbuf = QFLIGHT_RPC_ALLOCATE(DSPBuffer::MAG);
if (magbuf == nullptr) {
AP_HAL::panic("unable to allocate MAG buffer");
}
}
int ret = qflight_get_mag_data((uint8_t *)magbuf, sizeof(*magbuf));
if (ret != 0) {
return;
}
uint64_t time_us = AP_HAL::micros64();
for (uint16_t i=0; i<magbuf->num_samples; i++) {
DSPBuffer::MAG::BUF &b = magbuf->buf[i];
// get raw_field - sensor frame, uncorrected
Vector3f raw_field(b.mag_raw[0], b.mag_raw[1], -b.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, time_us, instance);
// correct raw_field for known errors
correct_field(raw_field, instance);
// publish raw_field (corrected point sample) for EKF use
publish_unfiltered_field(raw_field, time_us, instance);
// accumulate into averaging filter
sum += raw_field;
count++;
}
}
#endif // CONFIG_HAL_BOARD_SUBTYPE