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96 lines
2.6 KiB
96 lines
2.6 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_QURT |
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#include "AP_Compass_QURT.h" |
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#include <AP_InertialSensor/AP_InertialSensor_QURT.h> |
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extern const AP_HAL::HAL& hal; |
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// Public Methods ////////////////////////////////////////////////////////////// |
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// constructor |
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AP_Compass_QURT::AP_Compass_QURT(Compass &compass): |
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AP_Compass_Backend(compass) |
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{ |
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} |
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// detect the sensor |
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AP_Compass_Backend *AP_Compass_QURT::detect(Compass &compass) |
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{ |
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AP_Compass_QURT *sensor = new AP_Compass_QURT(compass); |
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if (sensor == NULL) { |
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return NULL; |
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} |
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if (!sensor->init()) { |
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delete sensor; |
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return NULL; |
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} |
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return sensor; |
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} |
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bool AP_Compass_QURT::init(void) |
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{ |
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instance = register_compass(); |
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// publish a zero as a hack |
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publish_filtered_field(Vector3f(), instance); |
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_QURT::timer_update, void)); |
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return true; |
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} |
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void AP_Compass_QURT::read(void) |
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{ |
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// avoid division by zero if we haven't received any mag reports |
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if (count != 0) { |
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sum /= count; |
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publish_filtered_field(sum, instance); |
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sum.zero(); |
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count = 0; |
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} |
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} |
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void AP_Compass_QURT::timer_update(void) |
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{ |
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// cope the data |
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struct mpu9x50_data data; |
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if (mpu9250_mag_buffer == nullptr || !mpu9250_mag_buffer->pop(data)) { |
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return; |
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} |
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last_timestamp = data.timestamp; |
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Vector3f raw_field(data.mag_raw[0], |
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data.mag_raw[1], |
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-data.mag_raw[2]); |
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// rotate raw_field from sensor frame to body frame |
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rotate_field(raw_field, instance); |
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// publish raw_field (uncorrected point sample) for calibration use |
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publish_raw_field(raw_field, data.timestamp, instance); |
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// correct raw_field for known errors |
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correct_field(raw_field, instance); |
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// accumulate into averaging filter |
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sum += raw_field; |
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count++; |
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} |
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#endif // CONFIG_HAL_BOARD
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