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LibrePilot/flight/libraries/auxmagsupport.c
2016-02-16 15:23:36 -05:00

88 lines
2.8 KiB
C

/**
******************************************************************************
*
* @file auxmagsupport.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* 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()
{
AuxMagSettingsData cal;
float magQuat[4];
float R[3][3];
AuxMagSettingsGet(&cal);
mag_bias[0] = cal.mag_bias.X;
mag_bias[1] = cal.mag_bias.Y;
mag_bias[2] = cal.mag_bias.Z;
// convert the RPY mag board rotation to into a rotation matrix
// rotate the vector into the level hover frame (the attitude frame)
const float magRpy[3] = { cal.BoardRotation.Roll, cal.BoardRotation.Pitch, cal.BoardRotation.Yaw };
RPY2Quaternion(magRpy, magQuat);
Quaternion2R(magQuat, R);
// the mag transform only scales the raw mag values
matrix_mult_3x3f((float(*)[3])AuxMagSettingsmag_transformToArray(cal.mag_transform), R, mag_transform);
// GPSV9, Ext (unused), and Flexi
AuxMagSettingsTypeGet(&option);
const uint8_t status = AUXMAGSENSOR_STATUS_NONE;
// next sample from other external mags will provide the right status if present
AuxMagSensorStatusSet((uint8_t *)&status);
}
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;
}