mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
73 lines
2.2 KiB
C
73 lines
2.2 KiB
C
|
/**
|
||
|
|
******************************************************************************
|
||
|
|
*
|
||
|
|
* @file auxmagsupport.c
|
||
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||
|
|
* @brief Functions to handle aux mag data and calibration.
|
||
|
|
* --
|
||
|
|
* @see The GNU Public License (GPL) Version 3
|
||
|
|
*
|
||
|
|
*****************************************************************************/
|
||
|
|
/*
|
||
|
|
* 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, write to the Free Software Foundation, Inc.,
|
||
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <stdint.h>
|
||
|
|
#include "inc/auxmagsupport.h"
|
||
|
|
#include "CoordinateConversions.h"
|
||
|
|
|
||
|
|
static float mag_bias[3] = { 0, 0, 0 };
|
||
|
|
static float mag_transform[3][3] = {
|
||
|
|
{ 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 }
|
||
|
|
};
|
||
|
|
|
||
|
|
AuxMagSettingsTypeOptions option;
|
||
|
|
|
||
|
|
void auxmagsupport_reload_settings()
|
||
|
|
{
|
||
|
|
AuxMagSettingsTypeGet(&option);
|
||
|
|
float a[3][3];
|
||
|
|
float b[3][3];
|
||
|
|
float rotz;
|
||
|
|
AuxMagSettingsmag_transformArrayGet((float *)a);
|
||
|
|
AuxMagSettingsOrientationGet(&rotz);
|
||
|
|
rotz = DEG2RAD(rotz);
|
||
|
|
rot_about_axis_z(rotz, b);
|
||
|
|
matrix_mult_3x3f(a, b, mag_transform);
|
||
|
|
AuxMagSettingsmag_biasArrayGet(mag_bias);
|
||
|
|
}
|
||
|
|
|
||
|
|
void auxmagsupport_publish_samples(float mags[3], uint8_t status)
|
||
|
|
{
|
||
|
|
float mag_out[3];
|
||
|
|
|
||
|
|
mags[0] -= mag_bias[0];
|
||
|
|
mags[1] -= mag_bias[1];
|
||
|
|
mags[2] -= mag_bias[2];
|
||
|
|
rot_mult(mag_transform, mags, mag_out);
|
||
|
|
|
||
|
|
AuxMagSensorData data;
|
||
|
|
data.x = mag_out[0];
|
||
|
|
data.y = mag_out[1];
|
||
|
|
data.z = mag_out[2];
|
||
|
|
data.Status = status;
|
||
|
|
AuxMagSensorSet(&data);
|
||
|
|
}
|
||
|
|
|
||
|
|
AuxMagSettingsTypeOptions auxmagsupport_get_type()
|
||
|
|
{
|
||
|
|
return option;
|
||
|
|
}
|