mirror of https://github.com/ArduPilot/ardupilot
104 lines
2.8 KiB
C++
104 lines
2.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* AP_Compass_HIL.cpp - Arduino Library for HIL model of HMC5843 I2C Magnetometer
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* Code by James Goppert. DIYDrones.com
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*
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* This library is free software; you can redistribute it and / or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*/
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#include <AP_HAL.h>
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#include "AP_Compass_HIL.h"
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extern const AP_HAL::HAL& hal;
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// constructor
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AP_Compass_HIL::AP_Compass_HIL() : Compass()
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{
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product_id = AP_COMPASS_TYPE_HIL;
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_setup_earth_field();
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}
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// setup _Bearth
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void AP_Compass_HIL::_setup_earth_field(void)
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{
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// assume a earth field strength of 400
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_Bearth(400, 0, 0);
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// rotate _Bearth for inclination and declination. -66 degrees
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// is the inclination in Canberra, Australia
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Matrix3f R;
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R.from_euler(0, ToRad(66), _declination.get());
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_Bearth = R * _Bearth;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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bool AP_Compass_HIL::read()
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{
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// get offsets
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Vector3f ofs = _offset.get();
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// apply motor compensation
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if(_motor_comp_type != AP_COMPASS_MOT_COMP_DISABLED && _thr_or_curr != 0.0f) {
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_motor_offset = _motor_compensation.get() * _thr_or_curr;
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}else{
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_motor_offset.x = 0;
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_motor_offset.y = 0;
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_motor_offset.z = 0;
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}
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// return last values provided by setHIL function
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mag_x = _hil_mag.x + ofs.x + _motor_offset.x;
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mag_y = _hil_mag.y + ofs.y + _motor_offset.y;
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mag_z = _hil_mag.z + ofs.z + _motor_offset.z;
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// values set by setHIL function
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last_update = hal.scheduler->micros(); // record time of update
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return true;
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}
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#define MAG_OFS_X 5.0
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#define MAG_OFS_Y 13.0
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#define MAG_OFS_Z -18.0
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// Update raw magnetometer values from HIL data
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//
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void AP_Compass_HIL::setHIL(float roll, float pitch, float yaw)
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{
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Matrix3f R;
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// create a rotation matrix for the given attitude
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R.from_euler(roll, pitch, yaw);
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if (_last_declination != _declination.get()) {
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_setup_earth_field();
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_last_declination = _declination.get();
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}
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// convert the earth frame magnetic vector to body frame, and
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// apply the offsets
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_hil_mag = R.mul_transpose(_Bearth);
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_hil_mag -= Vector3f(MAG_OFS_X, MAG_OFS_Y, MAG_OFS_Z);
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// apply default board orientation for this compass type. This is
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// a noop on most boards
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_hil_mag.rotate(MAG_BOARD_ORIENTATION);
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// add user selectable orientation
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_hil_mag.rotate((enum Rotation)_orientation.get());
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// and add in AHRS_ORIENTATION setting
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_hil_mag.rotate(_board_orientation);
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healthy = true;
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}
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void AP_Compass_HIL::accumulate(void)
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{
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// nothing to do
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}
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