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83 lines
2.6 KiB
C
83 lines
2.6 KiB
C
/**
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******************************************************************************
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*
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* @file auxmagsupport.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief Functions to handle aux mag data and calibration.
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* --
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <stdint.h>
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#include "inc/auxmagsupport.h"
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#include "CoordinateConversions.h"
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static float mag_bias[3] = { 0, 0, 0 };
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static float mag_transform[3][3] = {
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{ 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 }
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};
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AuxMagSettingsTypeOptions option;
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void auxmagsupport_reload_settings()
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{
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AuxMagSettingsData cal;
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float magQuat[4];
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float R[3][3];
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AuxMagSettingsGet(&cal);
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mag_bias[0] = cal.mag_bias.X;
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mag_bias[1] = cal.mag_bias.Y;
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mag_bias[2] = cal.mag_bias.Z;
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// convert the RPY mag board rotation to into a rotation matrix
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// rotate the vector into the level hover frame (the attitude frame)
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const float magRpy[3] = { cal.BoardRotation.Roll, cal.BoardRotation.Pitch, cal.BoardRotation.Yaw };
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RPY2Quaternion(magRpy, magQuat);
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Quaternion2R(magQuat, R);
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// the mag transform only scales the raw mag values
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matrix_mult_3x3f((float(*)[3])AuxMagSettingsmag_transformToArray(cal.mag_transform), R, mag_transform);
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// GPSV9, Ext (unused), and Flexi
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AuxMagSettingsTypeGet(&option);
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}
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void auxmagsupport_publish_samples(float mags[3], uint8_t status)
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{
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float mag_out[3];
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mags[0] -= mag_bias[0];
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mags[1] -= mag_bias[1];
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mags[2] -= mag_bias[2];
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rot_mult(mag_transform, mags, mag_out);
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AuxMagSensorData data;
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data.x = mag_out[0];
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data.y = mag_out[1];
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data.z = mag_out[2];
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data.Status = status;
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AuxMagSensorSet(&data);
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}
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AuxMagSettingsTypeOptions auxmagsupport_get_type()
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{
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return option;
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}
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