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Code Issues Releases Activity

OP-1406 - Add support for aux mag calibration settings.

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todo:
- GCS handling for extenal mag calibration
This commit is contained in:
Alessio Morale 2014-07-17 21:02:18 +02:00
parent 9d7a493c26
commit cced294760
3 changed files with 17 additions and 1 deletions
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1
flight/targets/boards/revolution/firmware/UAVObjects.inc
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@ -32,6 +32,7 @@ UAVOBJSRCFILENAMES += accelstate
UAVOBJSRCFILENAMES += accelsensor
UAVOBJSRCFILENAMES += magsensor
UAVOBJSRCFILENAMES += auxmagsensor
UAVOBJSRCFILENAMES += auxmagcalibration
UAVOBJSRCFILENAMES += magstate
UAVOBJSRCFILENAMES += barosensor
UAVOBJSRCFILENAMES += airspeedsensor

4
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
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@ -128,6 +128,7 @@ HEADERS += \
$$UAVOBJECT_SYNTHETICS/mpu6000settings.h \
$$UAVOBJECT_SYNTHETICS/takeofflocation.h \
$$UAVOBJECT_SYNTHETICS/auxmagsensor.h \
$$UAVOBJECT_SYNTHETICS/auxmagcalibration.h \
$$UAVOBJECT_SYNTHETICS/perfcounter.h
SOURCES += \
@ -233,5 +234,6 @@ SOURCES += \
$$UAVOBJECT_SYNTHETICS/mpu6000settings.cpp \
$$UAVOBJECT_SYNTHETICS/takeofflocation.cpp \
$$UAVOBJECT_SYNTHETICS/auxmagsensor.cpp \
$$UAVOBJECT_SYNTHETICS/auxmagcalibration.cpp \
$$UAVOBJECT_SYNTHETICS/perfcounter.cpp

13
shared/uavobjectdefinition/auxmagcalibration.xml Normal file
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@ -0,0 +1,13 @@
<xml>
<object name="AuxMagCalibration" singleinstance="true" settings="true" category="Sensors">
<description>Settings for auxiliary magnetometer calibration</description>
<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
<field name="mag_transform" units="gain" type="float" elementnames="r0c0,r0c1,r0c2,r1c0,r1c1,r1c2,r2c0,r2c1,r2c2"
defaultvalue="1,0,0,0,1,0,0,0,1"/>
<field name="MagBiasNullingRate" units="" type="float" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>