#include <AP_Compass.h>

Collaboration diagram for Compass:

Classes
struct	mag_state

Public Types
enum	LearnType { LEARN_NONE =0, LEARN_INTERNAL =1, LEARN_EKF =2, LEARN_INFLIGHT =3 }

Public Member Functions
	Compass ()

	Compass (const Compass &other)=delete

Compass &	operator= (const Compass &)=delete

bool	init ()

bool	read ()

void	accumulate ()

float	calculate_heading (const Matrix3f &dcm_matrix) const

float	calculate_heading (const Matrix3f &dcm_matrix, uint8_t i) const

void	set_offsets (uint8_t i, const Vector3f &offsets)

void	set_and_save_offsets (uint8_t i, const Vector3f &offsets)

void	set_and_save_diagonals (uint8_t i, const Vector3f &diagonals)

void	set_and_save_offdiagonals (uint8_t i, const Vector3f &diagonals)

void	save_offsets (uint8_t i)

void	save_offsets (void)

uint8_t	get_count (void) const

const Vector3f &	get_field (uint8_t i) const
	Return the current field as a Vector3f in milligauss. More...

const Vector3f &	get_field (void) const

void	compass_cal_update ()

void	per_motor_calibration_start (void)

void	per_motor_calibration_update (void)

void	per_motor_calibration_end (void)

void	start_calibration_all (bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot=false)

void	cancel_calibration_all ()

bool	compass_cal_requires_reboot ()

bool	is_calibrating () const

MAV_RESULT	handle_mag_cal_command (const mavlink_command_long_t &packet)

void	send_mag_cal_progress (mavlink_channel_t chan)

void	send_mag_cal_report (mavlink_channel_t chan)

bool	consistent () const

bool	healthy (uint8_t i) const
	Return the health of a compass. More...

bool	healthy (void) const

uint8_t	get_healthy_mask () const

const Vector3f &	get_offsets (uint8_t i) const

const Vector3f &	get_offsets (void) const

const Vector3f &	get_diagonals (uint8_t i) const

const Vector3f &	get_diagonals (void) const

const Vector3f &	get_offdiagonals (uint8_t i) const

const Vector3f &	get_offdiagonals (void) const

void	set_initial_location (int32_t latitude, int32_t longitude)

void	set_and_save_offsets (uint8_t i, int x, int y, int z)

bool	learn_offsets_enabled () const

bool	use_for_yaw (uint8_t i) const
	return true if the compass should be used for yaw calculations More...

bool	use_for_yaw (void) const
	return true if the compass should be used for yaw calculations More...

void	set_use_for_yaw (uint8_t i, bool use)

void	set_declination (float radians, bool save_to_eeprom=true)

float	get_declination () const

void	set_board_orientation (enum Rotation orientation, Matrix3f *custom_rotation=nullptr)

void	motor_compensation_type (const uint8_t comp_type)

uint8_t	get_motor_compensation_type () const
	get the motor compensation value. More...

void	set_motor_compensation (uint8_t i, const Vector3f &motor_comp_factor)

const Vector3f &	get_motor_compensation (uint8_t i) const
	get motor compensation factors as a vector More...

const Vector3f &	get_motor_compensation (void) const

void	save_motor_compensation ()

const Vector3f &	get_motor_offsets (uint8_t i) const

const Vector3f &	get_motor_offsets (void) const

void	set_throttle (float thr_pct)

void	set_voltage (float voltage)
	Set the battery voltage for per-motor compensation. More...

bool	configured (uint8_t i)

bool	configured (void)

uint8_t	get_primary (void) const

void	setHIL (uint8_t instance, float roll, float pitch, float yaw)

void	setHIL (uint8_t instance, const Vector3f &mag, uint32_t last_update_usec)

const Vector3f &	getHIL (uint8_t instance) const

void	_setup_earth_field ()

void	set_hil_mode (void)

uint32_t	last_update_usec (void) const

uint32_t	last_update_usec (uint8_t i) const

uint32_t	last_update_ms (void) const

uint32_t	last_update_ms (uint8_t i) const

enum LearnType	get_learn_type (void) const

void	set_learn_type (enum LearnType type, bool save)

uint16_t	get_offsets_max (void) const

uint8_t	get_filter_range () const

Static Public Member Functions
static Compass *	get_singleton ()

Public Attributes
struct {
Vector3f Bearth

float last_declination

bool healthy [COMPASS_MAX_INSTANCES]

Vector3f field [COMPASS_MAX_INSTANCES]

}	_hil

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Types
enum	DriverType { DRIVER_HMC5883 =0, DRIVER_LSM303D =1, DRIVER_AK8963 =2, DRIVER_BMM150 =3, DRIVER_LSM9DS1 =4, DRIVER_LIS3MDL =5, DRIVER_AK09916 =6, DRIVER_IST8310 =7, DRIVER_ICM20948 =8, DRIVER_MMC3416 =9, DRIVER_UAVCAN =11, DRIVER_QMC5883 =12, DRIVER_SITL =13, DRIVER_MAG3110 =14 }

Private Member Functions
uint8_t	register_compass (void)

bool	_add_backend (AP_Compass_Backend backend, const char name, bool external)

void	_detect_backends (void)

bool	_accept_calibration (uint8_t i)

bool	_accept_calibration_mask (uint8_t mask)

void	_cancel_calibration (uint8_t i)

void	_cancel_calibration_mask (uint8_t mask)

uint8_t	_get_cal_mask () const

bool	_start_calibration (uint8_t i, bool retry=false, float delay_sec=0.0f)

bool	_start_calibration_mask (uint8_t mask, bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot=false)

bool	_auto_reboot ()

bool	_have_driver (AP_HAL::Device::BusType bus_type, uint8_t bus_num, uint8_t address, uint8_t devtype) const

bool	_driver_enabled (enum DriverType driver_type)

Private Attributes
bool	_cal_saved [COMPASS_MAX_INSTANCES]

bool	_cal_autosave

bool	_compass_cal_autoreboot

bool	_cal_complete_requires_reboot

bool	_cal_has_run

AP_Compass_Backend *	_backends [COMPASS_MAX_BACKEND]

uint8_t	_backend_count

uint8_t	_compass_count

AP_Int8	_learn

enum Rotation	_board_orientation

Matrix3f *	_custom_rotation

AP_Int8	_primary

AP_Float	_declination

AP_Int8	_auto_declination

bool	_null_init_done

AP_Int8	_motor_comp_type

float	_thr

struct Compass::mag_state	_state [COMPASS_MAX_INSTANCES]

AP_Int16	_offset_max

CompassCalibrator	_calibrator [COMPASS_MAX_INSTANCES]

Compass_PerMotor	_per_motor {*this}

bool	_hil_mode:1

AP_Float	_calibration_threshold

AP_Int32	_driver_type_mask

AP_Int8	_filter_range

Static Private Attributes
static Compass *	_singleton

static const uint8_t	_mag_history_size = 20

Friends
class	AP_Compass_Backend

class	CompassLearn

Detailed Description

Definition at line 49 of file AP_Compass.h.

Member Enumeration Documentation

◆ DriverType

enum Compass::DriverType

private

Enumerator
DRIVER_HMC5883
DRIVER_LSM303D
DRIVER_AK8963
DRIVER_BMM150
DRIVER_LSM9DS1
DRIVER_LIS3MDL
DRIVER_AK09916
DRIVER_IST8310
DRIVER_ICM20948
DRIVER_MMC3416
DRIVER_UAVCAN
DRIVER_QMC5883
DRIVER_SITL
DRIVER_MAG3110

Definition at line 368 of file AP_Compass.h.

◆ LearnType

enum Compass::LearnType

Enumerator
LEARN_NONE
LEARN_INTERNAL
LEARN_EKF
LEARN_INFLIGHT

Definition at line 305 of file AP_Compass.h.

Constructor & Destructor Documentation

◆ Compass() [1/2]

Compass::Compass ( void )

Definition at line 454 of file AP_Compass.cpp.

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◆ Compass() [2/2]

Compass::Compass ( const Compass & other )

delete

Member Function Documentation

◆ _accept_calibration()

bool Compass::_accept_calibration ( uint8_t i )

private

Definition at line 132 of file AP_Compass_Calibration.cpp.

Referenced by _accept_calibration_mask(), and compass_cal_update().

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◆ _accept_calibration_mask()

bool Compass::_accept_calibration_mask ( uint8_t mask )

private

Definition at line 160 of file AP_Compass_Calibration.cpp.

Referenced by handle_mag_cal_command().

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◆ _add_backend()

bool Compass::_add_backend	(	AP_Compass_Backend *	backend,
		const char *	name,
		bool	external
	)

private

Definition at line 511 of file AP_Compass.cpp.

Referenced by _detect_backends().

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◆ _auto_reboot()

bool Compass::_auto_reboot ( )

inlineprivate

Definition at line 352 of file AP_Compass.h.

Referenced by compass_cal_update().

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◆ _cancel_calibration()

void Compass::_cancel_calibration ( uint8_t i )

private

Definition at line 104 of file AP_Compass_Calibration.cpp.

Referenced by _cancel_calibration_mask().

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◆ _cancel_calibration_mask()

void Compass::_cancel_calibration_mask ( uint8_t mask )

private

Definition at line 116 of file AP_Compass_Calibration.cpp.

Referenced by _start_calibration_mask(), cancel_calibration_all(), and handle_mag_cal_command().

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◆ _detect_backends()

void Compass::_detect_backends ( void )

private

Definition at line 552 of file AP_Compass.cpp.

Referenced by init().

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◆ _driver_enabled()

bool Compass::_driver_enabled ( enum DriverType driver_type )

private

Definition at line 529 of file AP_Compass.cpp.

Referenced by _detect_backends().

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◆ _get_cal_mask()

uint8_t Compass::_get_cal_mask ( ) const

private

Definition at line 255 of file AP_Compass_Calibration.cpp.

Referenced by send_mag_cal_progress(), and send_mag_cal_report().

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◆ _have_driver()

bool Compass::_have_driver	(	AP_HAL::Device::BusType	bus_type,
		uint8_t	bus_num,
		uint8_t	address,
		uint8_t	devtype
	)		const

private

Definition at line 538 of file AP_Compass.cpp.

Referenced by _auto_reboot(), and _detect_backends().

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◆ _setup_earth_field()

void Compass::_setup_earth_field ( void )

Definition at line 1246 of file AP_Compass.cpp.

Referenced by AP_Compass_HIL::AP_Compass_HIL(), AP_Compass_SITL::AP_Compass_SITL(), get_primary(), and setHIL().

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◆ _start_calibration()

bool Compass::_start_calibration	(	uint8_t	i,
		bool	retry = `false`,
		float	delay_sec = `0.0f`
	)

private

Definition at line 45 of file AP_Compass_Calibration.cpp.

Referenced by _start_calibration_mask(), and start_calibration_all().

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◆ _start_calibration_mask()

bool Compass::_start_calibration_mask	(	uint8_t	mask,
		bool	retry = `false`,
		bool	autosave = `false`,
		float	delay_sec = `0.0f`,
		bool	autoreboot = `false`
	)

private

Definition at line 74 of file AP_Compass_Calibration.cpp.

Referenced by handle_mag_cal_command().

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◆ accumulate()

void Compass::accumulate ( void )

use spare CPU cycles to accumulate values from the compass if possible (this method should also be implemented in the backends)

Definition at line 970 of file AP_Compass.cpp.

Referenced by loop().

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◆ calculate_heading() [1/2]

float Compass::calculate_heading ( const Matrix3f & dcm_matrix ) const

inline

Calculate the tilt-compensated heading_ variables.

Parameters

dcm_matrix The current orientation rotation matrix

Returns: heading in radians

Definition at line 87 of file AP_Compass.h.

Referenced by AP_AHRS_DCM::drift_correction_yaw(), and loop().

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◆ calculate_heading() [2/2]

float Compass::calculate_heading	(	const Matrix3f &	dcm_matrix,
		uint8_t	i
	)		const

Definition at line 1123 of file AP_Compass.cpp.

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◆ cancel_calibration_all()

void Compass::cancel_calibration_all ( )

Definition at line 126 of file AP_Compass_Calibration.cpp.

Referenced by compass_cal_update(), handle_mag_cal_command(), and per_motor_calibration_end().

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◆ compass_cal_requires_reboot()

bool Compass::compass_cal_requires_reboot ( )

inline

Definition at line 143 of file AP_Compass.h.

Referenced by AP_Arming::compass_checks().

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◆ compass_cal_update()

void Compass::compass_cal_update ( )

Definition at line 10 of file AP_Compass_Calibration.cpp.

Referenced by get_field().

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◆ configured() [1/2]

bool Compass::configured ( uint8_t i )

Returns True if the compasses have been configured (i.e. offsets saved)

Returns: True if compass has been configured

Definition at line 1156 of file AP_Compass.cpp.

Referenced by AP_Arming::compass_checks().

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◆ configured() [2/2]

bool Compass::configured ( void )

Definition at line 1186 of file AP_Compass.cpp.

Referenced by set_voltage().

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◆ consistent()

bool Compass::consistent ( ) const

Definition at line 1272 of file AP_Compass.cpp.

Referenced by compass_cal_requires_reboot(), AP_Arming::compass_checks(), NavEKF2_core::readMagData(), and NavEKF3_core::readMagData().

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◆ get_count()

uint8_t Compass::get_count ( void ) const

inline

Definition at line 119 of file AP_Compass.h.

Referenced by configured(), consistent(), DataFlash_Class::Log_Write_Compass(), loop(), NavEKF2_core::readMagData(), NavEKF3_core::readMagData(), GCS_MAVLINK::send_raw_imu(), and setup().

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◆ get_declination()

float Compass::get_declination ( ) const

Definition at line 1114 of file AP_Compass.cpp.

Referenced by _setup_earth_field(), NavEKF2_core::alignMagStateDeclination(), NavEKF3_core::alignMagStateDeclination(), SoloGimbalEKF::calcMagHeadingInnov(), NavEKF2_core::calcQuatAndFieldStates(), NavEKF3_core::calcQuatAndFieldStates(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), GCS_MAVLINK::send_sensor_offsets(), set_use_for_yaw(), setHIL(), and AP_AHRS_DCM::yaw_error_compass().

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◆ get_diagonals() [1/2]

const Vector3f& Compass::get_diagonals ( uint8_t i ) const

inline

Definition at line 169 of file AP_Compass.h.

Referenced by CompassLearn::update().

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◆ get_diagonals() [2/2]

const Vector3f& Compass::get_diagonals ( void ) const

inline

Definition at line 170 of file AP_Compass.h.

Referenced by get_diagonals().

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◆ get_field() [1/2]

const Vector3f& Compass::get_field ( uint8_t i ) const

inline

Return the current field as a Vector3f in milligauss.

Definition at line 122 of file AP_Compass.h.

Referenced by Compass_PerMotor::calibration_start(), Compass_PerMotor::calibration_update(), AP_Arming::compass_checks(), DataFlash_Class::Log_Write_Compass_instance(), loop(), SoloGimbalEKF::readMagData(), NavEKF2_core::readMagData(), NavEKF3_core::readMagData(), GCS_MAVLINK::send_raw_imu(), CompassLearn::update(), and AP_AHRS_DCM::yaw_error_compass().

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◆ get_field() [2/2]

const Vector3f& Compass::get_field ( void ) const

inline

Definition at line 123 of file AP_Compass.h.

Referenced by calculate_heading(), consistent(), and get_field().

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◆ get_filter_range()

uint8_t Compass::get_filter_range ( ) const

inline

Definition at line 331 of file AP_Compass.h.

Referenced by AP_Compass_Backend::field_ok().

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◆ get_healthy_mask()

uint8_t Compass::get_healthy_mask ( ) const

Definition at line 993 of file AP_Compass.cpp.

Referenced by healthy().

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◆ get_learn_type()

enum LearnType Compass::get_learn_type ( void ) const

inline

Definition at line 313 of file AP_Compass.h.

Referenced by CompassLearn::update().

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◆ get_motor_compensation() [1/2]

const Vector3f& Compass::get_motor_compensation ( uint8_t i ) const

inline

get motor compensation factors as a vector

Definition at line 237 of file AP_Compass.h.

◆ get_motor_compensation() [2/2]

const Vector3f& Compass::get_motor_compensation ( void ) const

inline

Definition at line 238 of file AP_Compass.h.

Referenced by get_motor_compensation().

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◆ get_motor_compensation_type()

uint8_t Compass::get_motor_compensation_type ( ) const

inline

get the motor compensation value.

Definition at line 225 of file AP_Compass.h.

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◆ get_motor_offsets() [1/2]

const Vector3f& Compass::get_motor_offsets ( uint8_t i ) const

inline

Returns the current motor compensation offset values

Returns: The current compass offsets in milligauss.

Definition at line 250 of file AP_Compass.h.

Referenced by DataFlash_Class::Log_Write_Compass_instance().

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◆ get_motor_offsets() [2/2]

const Vector3f& Compass::get_motor_offsets ( void ) const

inline

Definition at line 251 of file AP_Compass.h.

Referenced by get_motor_offsets().

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◆ get_offdiagonals() [1/2]

const Vector3f& Compass::get_offdiagonals ( uint8_t i ) const

inline

Definition at line 172 of file AP_Compass.h.

Referenced by CompassLearn::update().

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◆ get_offdiagonals() [2/2]

const Vector3f& Compass::get_offdiagonals ( void ) const

inline

Definition at line 173 of file AP_Compass.h.

Referenced by get_offdiagonals().

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◆ get_offsets() [1/2]

const Vector3f& Compass::get_offsets ( uint8_t i ) const

inline

Returns the current offset values

Returns: The current compass offsets in milligauss.

Definition at line 166 of file AP_Compass.h.

Referenced by AP_Arming::compass_checks(), NavEKF2_core::getMagOffsets(), NavEKF3_core::getMagOffsets(), DataFlash_Class::Log_Write_Compass_instance(), NavEKF2_core::readMagData(), NavEKF3_core::readMagData(), GCS_MAVLINK::send_sensor_offsets(), and CompassLearn::update().

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◆ get_offsets() [2/2]

const Vector3f& Compass::get_offsets ( void ) const

inline

Definition at line 167 of file AP_Compass.h.

Referenced by configured(), and get_offsets().

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◆ get_offsets_max()

uint16_t Compass::get_offsets_max ( void ) const

inline

Definition at line 327 of file AP_Compass.h.

Referenced by _start_calibration(), and AP_Arming::compass_checks().

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◆ get_primary()

uint8_t Compass::get_primary ( void ) const

inline

Returns the instance of the primary compass

Returns: the instance number of the primary compass

Definition at line 277 of file AP_Compass.h.

Referenced by _start_calibration(), calculate_heading(), get_diagonals(), get_field(), get_motor_compensation(), get_motor_offsets(), get_offdiagonals(), get_offsets(), healthy(), NavEKF2_core::InitialiseVariables(), NavEKF3_core::InitialiseVariables(), last_update_ms(), last_update_usec(), and use_for_yaw().

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◆ get_singleton()

static Compass* Compass::get_singleton ( )

inlinestatic

Definition at line 60 of file AP_Compass.h.

Referenced by AP::compass().

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◆ getHIL()

const Vector3f & Compass::getHIL ( uint8_t instance ) const

Definition at line 1240 of file AP_Compass.cpp.

Referenced by get_primary().

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◆ handle_mag_cal_command()

MAV_RESULT Compass::handle_mag_cal_command ( const mavlink_command_long_t & packet )

Definition at line 270 of file AP_Compass_Calibration.cpp.

Referenced by compass_cal_requires_reboot(), and GCS_MAVLINK::handle_command_mag_cal().

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◆ healthy() [1/2]

bool Compass::healthy ( uint8_t i ) const

inline

Return the health of a compass.

Definition at line 158 of file AP_Compass.h.

◆ healthy() [2/2]

bool Compass::healthy ( void ) const

inline

Definition at line 159 of file AP_Compass.h.

Referenced by _start_calibration(), get_healthy_mask(), healthy(), read(), and use_for_yaw().

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◆ init()

bool Compass::init ( void )

Initialize the compass device.

Returns: True if the compass was initialized OK, false if it was not found or is not functioning.

Definition at line 487 of file AP_Compass.cpp.

Referenced by setup().

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◆ is_calibrating()

bool Compass::is_calibrating ( ) const

Definition at line 239 of file AP_Compass_Calibration.cpp.

Referenced by _accept_calibration(), _start_calibration(), compass_cal_requires_reboot(), compass_cal_update(), and AP_Arming::compass_checks().

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◆ last_update_ms() [1/2]

uint32_t Compass::last_update_ms ( void ) const

inline

Definition at line 292 of file AP_Compass.h.

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◆ last_update_ms() [2/2]

uint32_t Compass::last_update_ms ( uint8_t i ) const

inline

Definition at line 293 of file AP_Compass.h.

◆ last_update_usec() [1/2]

uint32_t Compass::last_update_usec ( void ) const

inline

Definition at line 289 of file AP_Compass.h.

Referenced by AP_AHRS_DCM::drift_correction_yaw(), get_primary(), DataFlash_Class::Log_Write_Compass_instance(), AP_Compass_HIL::read(), SoloGimbalEKF::readMagData(), NavEKF2_core::readMagData(), and NavEKF3_core::readMagData().

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◆ last_update_usec() [2/2]

uint32_t Compass::last_update_usec ( uint8_t i ) const

inline

Definition at line 290 of file AP_Compass.h.

◆ learn_offsets_enabled()

bool Compass::learn_offsets_enabled ( ) const

inline

Definition at line 194 of file AP_Compass.h.

Referenced by AP_Arming::compass_checks().

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◆ motor_compensation_type()

void Compass::motor_compensation_type ( const uint8_t comp_type )

Set the motor compensation type

Parameters

comp_type 0 = disabled, 1 = enabled use throttle, 2 = enabled use current

Definition at line 1261 of file AP_Compass.cpp.

Referenced by set_board_orientation().

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◆ operator=()

Compass& Compass::operator= ( const Compass & )

delete

◆ per_motor_calibration_end()

void Compass::per_motor_calibration_end ( void )

inline

Definition at line 135 of file AP_Compass.h.

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◆ per_motor_calibration_start()

void Compass::per_motor_calibration_start ( void )

inline

Definition at line 129 of file AP_Compass.h.

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◆ per_motor_calibration_update()

void Compass::per_motor_calibration_update ( void )

inline

Definition at line 132 of file AP_Compass.h.

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◆ read()

bool Compass::read ( void )

Read the compass and update the mag_ variables.

Definition at line 979 of file AP_Compass.cpp.

Referenced by Compass_PerMotor::calibration_start(), AP_AHRS_DCM::drift_correction_yaw(), init(), and loop().

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◆ register_compass()

uint8_t Compass::register_compass ( void )

private

Register a new compas driver, allocating an instance number

Returns: number of compass instances

Definition at line 503 of file AP_Compass.cpp.

Referenced by AP_Compass_Backend::register_compass().

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◆ save_motor_compensation()

void Compass::save_motor_compensation ( )

Saves the current motor compensation x/y/z values.

This should be invoked periodically to save the offset values calculated by the motor compensation auto learning

Definition at line 1063 of file AP_Compass.cpp.

Referenced by get_motor_compensation().

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◆ save_offsets() [1/2]

void Compass::save_offsets ( uint8_t i )

Saves the current offset x/y/z values for one or all compasses

Parameters

i	compass instance

This should be invoked periodically to save the offset values maintained by ::learn_offsets.

Definition at line 1042 of file AP_Compass.cpp.

Referenced by CompassLearn::update().

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◆ save_offsets() [2/2]

void Compass::save_offsets ( void )

Definition at line 1049 of file AP_Compass.cpp.

Referenced by calculate_heading(), and set_and_save_offsets().

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◆ send_mag_cal_progress()

void Compass::send_mag_cal_progress ( mavlink_channel_t chan )

Definition at line 176 of file AP_Compass_Calibration.cpp.

Referenced by compass_cal_requires_reboot(), and GCS_MAVLINK::try_send_compass_message().

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◆ send_mag_cal_report()

void Compass::send_mag_cal_report ( mavlink_channel_t chan )

Definition at line 207 of file AP_Compass_Calibration.cpp.

Referenced by compass_cal_requires_reboot(), and GCS_MAVLINK::try_send_compass_message().

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◆ set_and_save_diagonals()

void Compass::set_and_save_diagonals	(	uint8_t	i,
		const Vector3f &	diagonals
	)

Definition at line 1024 of file AP_Compass.cpp.

Referenced by _accept_calibration(), and calculate_heading().

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◆ set_and_save_offdiagonals()

void Compass::set_and_save_offdiagonals	(	uint8_t	i,
		const Vector3f &	diagonals
	)

Definition at line 1033 of file AP_Compass.cpp.

Referenced by _accept_calibration(), and calculate_heading().

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◆ set_and_save_offsets() [1/2]

void Compass::set_and_save_offsets	(	uint8_t	i,
		const Vector3f &	offsets
	)

Sets and saves the compass offset x/y/z values.

Parameters

i	compass instance
offsets	Offsets to the raw mag_ values in milligauss.

Definition at line 1014 of file AP_Compass.cpp.

Referenced by _accept_calibration(), calculate_heading(), GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(), set_and_save_offsets(), and setup().

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◆ set_and_save_offsets() [2/2]

void Compass::set_and_save_offsets	(	uint8_t	i,
		int	x,
		int	y,
		int	z
	)

inline

Program new offset values.

Parameters

i	compass instance
x	Offset to the raw mag_x value in milligauss.
y	Offset to the raw mag_y value in milligauss.
z	Offset to the raw mag_z value in milligauss.

Definition at line 189 of file AP_Compass.h.

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◆ set_board_orientation()

void Compass::set_board_orientation	(	enum Rotation	orientation,
		Matrix3f *	custom_rotation = `nullptr`
	)

inline

Definition at line 213 of file AP_Compass.h.

Referenced by AP_AHRS::set_orientation().

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◆ set_declination()

void Compass::set_declination	(	float	radians,
		bool	save_to_eeprom = `true`
	)

Sets the local magnetic field declination.

Parameters

radians	Local field declination.
save_to_eeprom	true to save to eeprom (false saves only to memory)

Definition at line 1104 of file AP_Compass.cpp.

Referenced by set_use_for_yaw(), and setup().

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◆ set_hil_mode()

void Compass::set_hil_mode ( void )

inline

Definition at line 286 of file AP_Compass.h.

◆ set_initial_location()

void Compass::set_initial_location	(	int32_t	latitude,
		int32_t	longitude
	)

Sets the initial location used to get declination

Parameters

latitude	GPS Latitude.
longitude	GPS Longitude.

Definition at line 1072 of file AP_Compass.cpp.

Referenced by get_offdiagonals().

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◆ set_learn_type()

void Compass::set_learn_type	(	enum LearnType	type,
		bool	save
	)

inline

Definition at line 318 of file AP_Compass.h.

Referenced by CompassLearn::update().

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◆ set_motor_compensation()

void Compass::set_motor_compensation	(	uint8_t	i,
		const Vector3f &	motor_comp_factor
	)

Set the motor compensation factor x/y/z values.

Parameters

i	instance of compass
offsets	Offsets multiplied by the throttle value and added to the raw mag_ values.

Definition at line 1057 of file AP_Compass.cpp.

Referenced by get_motor_compensation_type(), and motor_compensation_type().

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◆ set_offsets()

void Compass::set_offsets	(	uint8_t	i,
		const Vector3f &	offsets
	)

Sets offset x/y/z values.

Parameters

i	compass instance
offsets	Offsets to the raw mag_ values in milligauss.

Definition at line 1005 of file AP_Compass.cpp.

Referenced by calculate_heading(), and CompassLearn::update().

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◆ set_throttle()

void Compass::set_throttle ( float thr_pct )

inline

Set the throttle as a percentage from 0.0 to 1.0

Parameters

thr_pct throttle expressed as a percentage from 0 to 1.0

Definition at line 255 of file AP_Compass.h.

◆ set_use_for_yaw()

void Compass::set_use_for_yaw	(	uint8_t	i,
		bool	use
	)

inline

Definition at line 200 of file AP_Compass.h.

Referenced by CompassLearn::update().

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◆ set_voltage()

void Compass::set_voltage ( float voltage )

inline

Set the battery voltage for per-motor compensation.

Definition at line 262 of file AP_Compass.h.

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◆ setHIL() [1/2]

void Compass::setHIL	(	uint8_t	instance,
		float	roll,
		float	pitch,
		float	yaw
	)

Definition at line 1197 of file AP_Compass.cpp.

Referenced by get_primary().

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◆ setHIL() [2/2]

void Compass::setHIL	(	uint8_t	instance,
		const Vector3f &	mag,
		uint32_t	last_update_usec
	)

Definition at line 1233 of file AP_Compass.cpp.

◆ start_calibration_all()

void Compass::start_calibration_all	(	bool	retry = `false`,
		bool	autosave = `false`,
		float	delay_sec = `0.0f`,
		bool	autoreboot = `false`
	)

Definition at line 91 of file AP_Compass_Calibration.cpp.

Referenced by handle_mag_cal_command(), and per_motor_calibration_end().

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◆ use_for_yaw() [1/2]

bool Compass::use_for_yaw ( uint8_t i ) const

return true if the compass should be used for yaw calculations

return true if the specified compass can be used for yaw calculations

Definition at line 1095 of file AP_Compass.cpp.

Referenced by AP_AHRS_NavEKF::active_EKF_type(), AP_Arming::compass_checks(), loop(), SoloGimbalEKF::readMagData(), NavEKF2_core::readMagData(), NavEKF3_core::readMagData(), AP_AHRS_DCM::use_compass(), NavEKF2_core::use_compass(), NavEKF3_core::use_compass(), and AP_AHRS::use_compass().

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◆ use_for_yaw() [2/2]

bool Compass::use_for_yaw ( void ) const

return true if the compass should be used for yaw calculations

Definition at line 1087 of file AP_Compass.cpp.

Referenced by _start_calibration(), configured(), consistent(), and learn_offsets_enabled().

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Friends And Related Function Documentation

◆ AP_Compass_Backend

friend class AP_Compass_Backend

friend

Definition at line 51 of file AP_Compass.h.

◆ CompassLearn

friend class CompassLearn

friend

Definition at line 64 of file AP_Compass.h.

Member Data Documentation

◆ _auto_declination

AP_Int8 Compass::_auto_declination

private

Definition at line 408 of file AP_Compass.h.

Referenced by set_initial_location().

◆ _backend_count

uint8_t Compass::_backend_count

private

Definition at line 389 of file AP_Compass.h.

Referenced by _add_backend(), _detect_backends(), accumulate(), and read().

◆ _backends

AP_Compass_Backend* Compass::_backends[COMPASS_MAX_BACKEND]

private

Definition at line 388 of file AP_Compass.h.

Referenced by _add_backend(), accumulate(), Compass(), and read().

◆ _board_orientation

enum Rotation Compass::_board_orientation

private

Definition at line 398 of file AP_Compass.h.

Referenced by AP_Compass_Backend::rotate_field(), set_board_orientation(), and setHIL().

◆ _cal_autosave

bool Compass::_cal_autosave

private

Definition at line 360 of file AP_Compass.h.

Referenced by _start_calibration_mask(), compass_cal_update(), and start_calibration_all().

◆ _cal_complete_requires_reboot

bool Compass::_cal_complete_requires_reboot

private

Definition at line 364 of file AP_Compass.h.

Referenced by _accept_calibration(), and compass_cal_requires_reboot().

◆ _cal_has_run

bool Compass::_cal_has_run

private

Definition at line 365 of file AP_Compass.h.

Referenced by compass_cal_update().

◆ _cal_saved

bool Compass::_cal_saved[COMPASS_MAX_INSTANCES]

private

Definition at line 359 of file AP_Compass.h.

Referenced by _accept_calibration(), _cancel_calibration(), _start_calibration(), compass_cal_update(), and send_mag_cal_report().

◆ _calibration_threshold

AP_Float Compass::_calibration_threshold

private

Definition at line 468 of file AP_Compass.h.

Referenced by _start_calibration().

◆ _calibrator

CompassCalibrator Compass::_calibrator[COMPASS_MAX_INSTANCES]

private

Definition at line 460 of file AP_Compass.h.

Referenced by _accept_calibration(), _accept_calibration_mask(), _cancel_calibration(), _get_cal_mask(), _start_calibration(), compass_cal_update(), is_calibrating(), AP_Compass_Backend::publish_raw_field(), send_mag_cal_progress(), and send_mag_cal_report().

◆ _compass_cal_autoreboot

bool Compass::_compass_cal_autoreboot

private

Definition at line 363 of file AP_Compass.h.

Referenced by _auto_reboot(), _start_calibration_mask(), and start_calibration_all().

◆ _compass_count

uint8_t Compass::_compass_count

private

Definition at line 392 of file AP_Compass.h.

Referenced by _detect_backends(), _have_driver(), get_count(), init(), and register_compass().

◆ _custom_rotation

Matrix3f* Compass::_custom_rotation

private

Definition at line 399 of file AP_Compass.h.

Referenced by AP_Compass_Backend::rotate_field(), set_board_orientation(), and setHIL().

◆ _declination

AP_Float Compass::_declination

private

Definition at line 405 of file AP_Compass.h.

Referenced by calculate_heading(), get_declination(), set_declination(), and set_initial_location().

◆ _driver_type_mask

AP_Int32 Compass::_driver_type_mask

private

Definition at line 471 of file AP_Compass.h.

Referenced by _detect_backends(), and _driver_enabled().

◆ _filter_range

AP_Int8 Compass::_filter_range

private

Definition at line 473 of file AP_Compass.h.

Referenced by get_filter_range().

◆ _hil

struct { ... } Compass::_hil

Referenced by _setup_earth_field(), getHIL(), AP_Compass_HIL::read(), and setHIL().

◆ _hil_mode

bool Compass::_hil_mode

private

Definition at line 466 of file AP_Compass.h.

Referenced by _detect_backends(), and set_hil_mode().

◆ _learn

AP_Int8 Compass::_learn

private

Definition at line 395 of file AP_Compass.h.

Referenced by _start_calibration(), get_learn_type(), learn_offsets_enabled(), set_learn_type(), and use_for_yaw().

◆ _mag_history_size

const uint8_t Compass::_mag_history_size = 20

staticprivate

Definition at line 414 of file AP_Compass.h.

◆ _motor_comp_type

AP_Int8 Compass::_motor_comp_type

private

Definition at line 418 of file AP_Compass.h.

Referenced by AP_Compass_Backend::correct_field(), get_motor_compensation_type(), motor_compensation_type(), save_motor_compensation(), and set_throttle().

◆ _null_init_done

bool Compass::_null_init_done

private

Definition at line 411 of file AP_Compass.h.

◆ _offset_max

AP_Int16 Compass::_offset_max

private

Definition at line 458 of file AP_Compass.h.

Referenced by get_offsets_max().

◆ _per_motor

Compass_PerMotor Compass::_per_motor {*this}

private

Definition at line 463 of file AP_Compass.h.

Referenced by AP_Compass_Backend::correct_field(), per_motor_calibration_end(), per_motor_calibration_start(), per_motor_calibration_update(), and set_voltage().

◆ _primary

AP_Int8 Compass::_primary

private

Definition at line 402 of file AP_Compass.h.

Referenced by get_primary().

◆ _singleton

Compass * Compass::_singleton

staticprivate

Definition at line 334 of file AP_Compass.h.

Referenced by Compass(), consistent(), and get_singleton().

◆ _state

struct Compass::mag_state Compass::_state[COMPASS_MAX_INSTANCES]

private

◆ _thr

float Compass::_thr

private

Definition at line 421 of file AP_Compass.h.

Referenced by AP_Compass_Backend::correct_field(), motor_compensation_type(), and set_throttle().

◆ Bearth

Vector3f Compass::Bearth

Definition at line 299 of file AP_Compass.h.

◆ field

Vector3f Compass::field[COMPASS_MAX_INSTANCES]

Definition at line 302 of file AP_Compass.h.

Referenced by calculate_heading(), and AP_Compass_HIL::read().

◆ healthy

bool Compass::healthy[COMPASS_MAX_INSTANCES]

Definition at line 301 of file AP_Compass.h.

Referenced by AP_Arming::compass_checks(), NavEKF2_core::getMagOffsets(), NavEKF3_core::getMagOffsets(), DataFlash_Class::Log_Write_Compass_instance(), loop(), and AP_Compass_HIL::read().

◆ last_declination

float Compass::last_declination

Definition at line 300 of file AP_Compass.h.

◆ var_info

const AP_Param::GroupInfo Compass::var_info

static

Definition at line 295 of file AP_Compass.h.

Referenced by Compass().

The documentation for this class was generated from the following files:

libraries/AP_Compass/AP_Compass.h
libraries/AP_Compass/AP_Compass.cpp
libraries/AP_Compass/AP_Compass_Calibration.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ DriverType

◆ LearnType

Constructor & Destructor Documentation

◆ Compass() [1/2]

◆ Compass() [2/2]

Member Function Documentation

◆ _accept_calibration()

◆ _accept_calibration_mask()

◆ _add_backend()

◆ _auto_reboot()

◆ _cancel_calibration()

◆ _cancel_calibration_mask()

◆ _detect_backends()

◆ _driver_enabled()

◆ _get_cal_mask()

◆ _have_driver()

◆ _setup_earth_field()

◆ _start_calibration()

◆ _start_calibration_mask()

◆ accumulate()

◆ calculate_heading() [1/2]

◆ calculate_heading() [2/2]

◆ cancel_calibration_all()

◆ compass_cal_requires_reboot()

◆ compass_cal_update()

◆ configured() [1/2]

◆ configured() [2/2]

◆ consistent()

◆ get_count()

◆ get_declination()

◆ get_diagonals() [1/2]

◆ get_diagonals() [2/2]

◆ get_field() [1/2]

◆ get_field() [2/2]

◆ get_filter_range()

◆ get_healthy_mask()

◆ get_learn_type()

◆ get_motor_compensation() [1/2]

◆ get_motor_compensation() [2/2]

◆ get_motor_compensation_type()

◆ get_motor_offsets() [1/2]

◆ get_motor_offsets() [2/2]

◆ get_offdiagonals() [1/2]

◆ get_offdiagonals() [2/2]

◆ get_offsets() [1/2]

◆ get_offsets() [2/2]

◆ get_offsets_max()

◆ get_primary()

◆ get_singleton()

◆ getHIL()

◆ handle_mag_cal_command()

◆ healthy() [1/2]

◆ healthy() [2/2]

◆ init()

◆ is_calibrating()

◆ last_update_ms() [1/2]

◆ last_update_ms() [2/2]

◆ last_update_usec() [1/2]

◆ last_update_usec() [2/2]

◆ learn_offsets_enabled()

◆ motor_compensation_type()

◆ operator=()

◆ per_motor_calibration_end()

◆ per_motor_calibration_start()

◆ per_motor_calibration_update()

◆ read()

◆ register_compass()