this allows any board to easily setup heater compensation for an
internal compass. The offsets are in body frame (previously in sensor
frame) and are sensor specific using bus device IDs
this adds new COMPASS_SCALE, COMPASS_SCALE2 and COMPASS_SCALE3
parameters, which give the sensor scaling factor. It is used to
compensate for an incorrect scaling in a compass.
The 3D compass calibration process will set the correct value
automatically, otherwise users can set the value to a known value for
an existing compass
this is needed to ensure they are per-instance. Without this the SITL
backend produces zero for all but the first instance. The same would
be true for any multi-instance backend
Instead of repeating on each driver the same sequence of steps,
let's move them to the common parent class. This only implements
it, but no driver was ported yet.
These are not used. The only place where raw fields are used are in the
compass calibrator and we don't need to store them.
Additionally remove duplicated documentation about the meaning of the
functions to avoid them getting out of sync.
For all supported boards the maximum number of instances is 3. The
number of HIL_COMPASSES was already defined as 2 instead of 3, so this
is left as before.
the previous approach assumed a 1:1 mapping between compass backends
and compass instances, which isn't true on PX4.
It also only setup milligauss offsets on a set_and_save call, which is
not the only way offsets change
this adds a milligauss_ratio per instance, which is considerably
simpler
From now on there's a pair get_field_milligauss() and
get_offsets_milligauss() that can make the transition to the common
units across all compasses easier.
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
Andrew Tridgell
Iampete1
Pierre Kancir
Siddharth Purohit
Andy Piper
Michael du Breuil
Lucas De Marchi
Jonathan Challinger
Jacob Walser
night-ghost
Mathieu OTHACEHE
Gustavo Jose de Sousa
Lucas De Marchi
Caio Marcelo de Oliveira Filho
Staroselskii Georgii