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ArduPlane: implement on-board compass cal for arduplane

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Siddharth Bharat Purohit 2015-07-30 20:21:50 -07:00 committed by Andrew Tridgell
parent b8a9f9ebc5
commit aea1db7348
4 changed files with 29 additions and 0 deletions
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1
ArduPlane/ArduPlane.cpp
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@ -63,6 +63,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] PROGMEM = {
SCHED_TASK(barometer_accumulate, 1, 900),
SCHED_TASK(update_notify, 1, 300),
SCHED_TASK(read_rangefinder, 1, 500),
SCHED_TASK(compass_cal_update, 1, 100),
#if OPTFLOW == ENABLED
SCHED_TASK(update_optical_flow, 1, 500),
#endif

18
ArduPlane/GCS_Mavlink.cpp
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@ -806,6 +806,16 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
CHECK_PAYLOAD_SIZE(MISSION_ITEM_REACHED);
mavlink_msg_mission_item_reached_send(chan, mission_item_reached_index);
break;
case MSG_MAG_CAL_PROGRESS:
CHECK_PAYLOAD_SIZE(MAG_CAL_PROGRESS);
plane.compass.send_mag_cal_progress(chan);
break;
case MSG_MAG_CAL_REPORT:
CHECK_PAYLOAD_SIZE(MAG_CAL_REPORT);
plane.compass.send_mag_cal_report(chan);
break;
}
return true;
}
@ -1037,6 +1047,8 @@ GCS_MAVLINK::data_stream_send(void)
#if AP_TERRAIN_AVAILABLE
send_message(MSG_TERRAIN);
#endif
send_message(MSG_MAG_CAL_REPORT);
send_message(MSG_MAG_CAL_PROGRESS);
send_message(MSG_BATTERY2);
send_message(MSG_MOUNT_STATUS);
send_message(MSG_OPTICAL_FLOW);
@ -1395,6 +1407,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
plane.autotune_enable(!is_zero(packet.param1));
break;
case MAV_CMD_DO_START_MAG_CAL:
case MAV_CMD_DO_ACCEPT_MAG_CAL:
case MAV_CMD_DO_CANCEL_MAG_CAL:
result = plane.compass.handle_mag_cal_command(packet);
break;
default:
break;
}

1
ArduPlane/Plane.h
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@ -874,6 +874,7 @@ private:
void update_alt(void);
void obc_fs_check(void);
void compass_accumulate(void);
void compass_cal_update();
void barometer_accumulate(void);
void update_optical_flow(void);
void one_second_loop(void);

9
ArduPlane/sensors.cpp
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@ -33,6 +33,15 @@ void Plane::read_rangefinder(void)
#endif
}
/*
calibrate compass
*/
void Plane::compass_cal_update() {
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
}
/*
ask airspeed sensor for a new value
*/