LP-580 Change PIOS_INCLUDE_HMC5X83 to PIOS_INCLUDE_SENSORS_AUXMAG where it applies to general auxmag support.

flight/modules/GPS/GPS.c

@@ -51,6 +51,9 @@
 #include "NMEA.h"
 #include "UBX.h"
 #include "DJI.h"
+#ifdef PIOS_INCLUDE_SENSORS_AUXMAG
+#include "sensors.h"
+#endif
 #if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
 #include "inc/ubx_autoconfig.h"
 #define FULL_UBX_PARSER
@@ -72,7 +75,7 @@ PERF_DEFINE_COUNTER(counterParse);
 #if defined(ANY_GPS_PARSER) && !defined(PIOS_GPS_MINIMAL)
 #define ANY_FULL_GPS_PARSER
 #endif
-#if (defined(PIOS_INCLUDE_HMC5X83) || defined(PIOS_INCLUDE_GPS_UBX_PARSER) || defined(PIOS_INCLUDE_GPS_DJI_PARSER)) && !defined(PIOS_GPS_MINIMAL)
+#if (defined(PIOS_INCLUDE_SENSORS_AUXMAG) || defined(PIOS_INCLUDE_GPS_UBX_PARSER) || defined(PIOS_INCLUDE_GPS_DJI_PARSER)) && !defined(PIOS_GPS_MINIMAL)
 #define ANY_FULL_MAG_PARSER
 #endif
 
@@ -653,8 +656,8 @@ void AuxMagSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 #if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
     dji_load_mag_settings();
 #endif
-#if defined(PIOS_INCLUDE_HMC5X83)
-    aux_hmc5x83_load_mag_settings();
+#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
+    sensors_auxmag_load_mag_settings();
 #endif
 }
 #endif /* defined(ANY_FULL_MAG_PARSER) */

flight/modules/GPS/inc/UBX.h

@@ -677,6 +677,5 @@ uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionSensorData *);
 
 int parse_ubx_stream(uint8_t *rx, uint16_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
 void op_gpsv9_load_mag_settings();
-void aux_hmc5x83_load_mag_settings();
 
 #endif /* UBX_H */

flight/modules/Sensors/inc/sensors.h

@@ -34,5 +34,6 @@
 #include "openpilot.h"
 
 int32_t SensorsInitialize(void);
+void sensors_auxmag_load_mag_settings(void);
 
 #endif // SENSORS_H

flight/modules/Sensors/sensors.c

@@ -71,6 +71,7 @@
 #include <CoordinateConversions.h>
 #include <pios_board_info.h>
 #include <string.h>
+#include "sensors.h"
 
 // Private constants
 #define STACK_SIZE_BYTES         1000
@@ -131,10 +132,6 @@ PERF_DEFINE_COUNTER(counterBaroPeriod);
 PERF_DEFINE_COUNTER(counterSensorPeriod);
 PERF_DEFINE_COUNTER(counterSensorResets);
 
-#if defined(PIOS_INCLUDE_HMC5X83)
-void aux_hmc5x83_load_settings();
-#endif
-
 // Private functions
 static void SensorsTask(void *parameters);
 static void settingsUpdatedCb(UAVObjEvent *objEv);
@@ -148,7 +145,7 @@ static void clearContext(sensor_fetch_context *sensor_context);
 static void handleAccel(float *samples, float temperature);
 static void handleGyro(float *samples, float temperature, uint32_t timestamp);
 static void handleMag(float *samples, float temperature);
-#if defined(PIOS_INCLUDE_HMC5X83)
+#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
 static void handleAuxMag(float *samples);
 #endif
 static void handleBaro(float sample, float temperature);
@@ -193,7 +190,7 @@ static float baro_temp_bias   = 0;
 static float baro_temperature = NAN;
 static uint8_t baro_temp_calibration_count = 0;
 
-#if defined(PIOS_INCLUDE_HMC5X83)
+#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
 // Allow AuxMag to be disabled without reboot
 // because the other mags are that way
 static bool useAuxMag = false;
@@ -211,7 +208,7 @@ int32_t SensorsInitialize(void)
     MagSensorInitialize();
     BaroSensorInitialize();
 
-#if defined(PIOS_INCLUDE_HMC5X83)
+#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
     // for auxmagsupport.c helpers
     AuxMagSensorInitialize();
 #endif
@@ -388,7 +385,7 @@ static void processSamples3d(sensor_fetch_context *sensor_context, const PIOS_SE
     float inv_count = 1.0f / (float)sensor_context->count;
     if ((sensor->type & PIOS_SENSORS_TYPE_3AXIS_ACCEL)
         || (sensor->type == PIOS_SENSORS_TYPE_3AXIS_MAG)
-#if defined(PIOS_INCLUDE_HMC5X83)
+#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
         || (sensor->type == PIOS_SENSORS_TYPE_3AXIS_AUXMAG)
 #endif
         ) {
@@ -403,7 +400,7 @@ static void processSamples3d(sensor_fetch_context *sensor_context, const PIOS_SE
             PERF_MEASURE_PERIOD(counterMagPeriod);
             return;
 
-#if defined(PIOS_INCLUDE_HMC5X83)
+#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
         case PIOS_SENSORS_TYPE_3AXIS_AUXMAG:
             handleAuxMag(samples);
             PERF_MEASURE_PERIOD(counterMagPeriod);
@@ -502,7 +499,7 @@ static void handleMag(float *samples, float temperature)
     MagSensorSet(&mag);
 }
 
-#if defined(PIOS_INCLUDE_HMC5X83)
+#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
 static void handleAuxMag(float *samples)
 {
     if (useAuxMag) {
@@ -641,8 +638,8 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
           fabsf(baroCorrection.d) > 1e-9f));
 }
 
-#if defined(PIOS_INCLUDE_HMC5X83)
-void aux_hmc5x83_load_mag_settings()
+#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
+void sensors_auxmag_load_mag_settings()
 {
     uint8_t magType = auxmagsupport_get_type();
 

flight/modules/StateEstimation/filtercf.c

@@ -228,16 +228,10 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
 
     // During initialization and
     if (this->first_run) {
-#if defined(PIOS_INCLUDE_HMC5X83)
         // wait until mags have been updated
         if (!this->magUpdated && this->useMag) {
             return FILTERRESULT_ERROR;
         }
-#else
-        mag[0] = 100.0f;
-        mag[1] = 0.0f;
-        mag[2] = 0.0f;
-#endif
 
         pseudo_windowed_variance_init(&this->gyro_var[0], VARIANCE_WINDOW_SIZE);
         pseudo_windowed_variance_init(&this->gyro_var[1], VARIANCE_WINDOW_SIZE);

flight/pios/common/pios_board_sensors.c

@@ -150,7 +150,7 @@ void PIOS_BOARD_Sensors_Configure()
 
 # endif /* PIOS_INCLUDE_HMC5X83_INTERNAL */
 
-# if defined(PIOS_INCLUDE_HMC5X83) || defined(PIOS_INCLUDE_QMC5883L)
+# ifdef PIOS_INCLUDE_SENSORS_AUXMAG
     AuxMagSettingsInitialize();
 
     AuxMagSettingsTypeOptions option;
@@ -197,7 +197,7 @@ void PIOS_BOARD_Sensors_Configure()
         AlarmsSet(SYSTEMALARMS_ALARM_I2C, (qmc5883l_dev) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
 #  endif /* PIOS_INCLUDE_QMC5883L */
     }
-# endif /* PIOS_INCLUDE_HMC5X83 || PIOS_INCLUDE_QMC5883L */
+# endif /* PIOS_INCLUDE_SENSORS_AUXMAG */
 
     // internal ms5611 baro
 #ifdef PIOS_INCLUDE_MS56XX

flight/pios/pios.h

@@ -339,6 +339,10 @@ extern "C" {
 /* Performance counters */
 /* #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 */
 
+#if defined(PIOS_INCLUDE_HMC5X83) || defined(PIOS_INCLUDE_QMC5883L)
+#define PIOS_INCLUDE_SENSORS_AUXMAG
+#endif
+
 #endif /* USE_SIM_POSIX */