AP_Compass: added qflight driver

libraries/AP_Compass/AP_Compass_qflight.cpp

@@ -0,0 +1,112 @@
+/// -*- 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
+

libraries/AP_Compass/AP_Compass_qflight.h

@@ -0,0 +1,32 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#pragma once
+
+#include "Compass.h"
+#include "AP_Compass_Backend.h"
+
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
+
+#include <AP_HAL_Linux/qflight/qflight_buffer.h>
+
+class AP_Compass_QFLIGHT : public AP_Compass_Backend
+{
+public:
+    bool        init(void);
+    void        read(void);
+
+    AP_Compass_QFLIGHT(Compass &compass);
+
+    // detect the sensor
+    static AP_Compass_Backend *detect(Compass &compass);
+
+private:
+    void timer_update();
+    DSPBuffer::MAG *magbuf;
+    uint8_t  instance;
+    Vector3f sum;
+    uint32_t count;
+    uint32_t last_check_ms;
+};
+
+#endif // CONFIG_HAL_BOARD_SUBTYPE

libraries/AP_Compass/Compass.cpp

@@ -436,9 +436,10 @@ void Compass::_detect_backends(void)
     } else {
         _add_backend(AP_Compass_AK8963::detect_mpu9250(*this, 0));
     }
-#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX &&                            \
+#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && \
-      CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE &&       \
+      CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE && \
-      CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_BEBOP &&      \
+      CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_BEBOP && \
+      CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_QFLIGHT && \
       CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_MINLURE
     _add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c));
     _add_backend(AP_Compass_AK8963::detect_mpu9250(*this, 0));
@@ -458,6 +459,8 @@ void Compass::_detect_backends(void)
     _add_backend(AP_Compass_PX4::detect(*this));
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
     _add_backend(AP_Compass_AK8963::detect_mpu9250(*this, 0));
+#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QFLIGHT
+    _add_backend(AP_Compass_QFLIGHT::detect(*this));
 #else
     #error Unrecognised HAL_COMPASS_TYPE setting
 #endif

libraries/AP_Compass/Compass.h

@@ -412,4 +412,5 @@ private:
 #include "AP_Compass_AK8963.h"
 #include "AP_Compass_PX4.h"
 #include "AP_Compass_LSM303D.h"
+#include "AP_Compass_qflight.h"
 #endif