You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
109 lines
3.1 KiB
109 lines
3.1 KiB
/// -*- 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); |
|
|
|
// accumulate into averaging filter |
|
sum += raw_field; |
|
count++; |
|
} |
|
} |
|
|
|
#endif // CONFIG_HAL_BOARD_SUBTYPE |
|
|
|
|