示例#1
0
void loop(void)
{
    static uint16_t counter;
    static uint32_t last_t, last_print, last_compass;
    uint32_t now = hal.scheduler->micros();
    float heading = 0;

    if (last_t == 0) {
        last_t = now;
        return;
    }
    last_t = now;

    if (now - last_compass > 100*1000UL &&
        compass.read()) {
        heading = compass.calculate_heading(ahrs.get_dcm_matrix());
        // read compass at 10Hz
        last_compass = now;
#if WITH_GPS
        g_gps->update();
#endif
    }

    ahrs.update();
    counter++;

    if (now - last_print >= 100000 /* 100ms : 10hz */) {
        Vector3f drift  = ahrs.get_gyro_drift();
        hal.console->printf(
                "r:%4.1f  p:%4.1f y:%4.1f "
                    "drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n",
                        ToDeg(ahrs.roll),
                        ToDeg(ahrs.pitch),
                        ToDeg(ahrs.yaw),
                        ToDeg(drift.x),
                        ToDeg(drift.y),
                        ToDeg(drift.z),
                        compass.use_for_yaw() ? ToDeg(heading) : 0.0f,
                        (1.0e6f*counter)/(now-last_print));
        last_print = now;
        counter = 0;
    }
}
示例#2
0
static void loop()
{
    static const uint8_t compass_count = compass.get_count();
    static float min[COMPASS_MAX_INSTANCES][3];
    static float max[COMPASS_MAX_INSTANCES][3];
    static float offset[COMPASS_MAX_INSTANCES][3];

    compass.accumulate();

    if ((AP_HAL::micros() - timer) > 100000L) {
        timer = AP_HAL::micros();
        compass.read();
        unsigned long read_time = AP_HAL::micros() - timer;

        for (uint8_t i = 0; i < compass_count; i++) {
            float heading;

            hal.console->printf("Compass #%u: ", i);

            if (!compass.healthy()) {
                hal.console->println("not healthy");
                continue;
            }

            Matrix3f dcm_matrix;
            // use roll = 0, pitch = 0 for this example
            dcm_matrix.from_euler(0, 0, 0);
            heading = compass.calculate_heading(dcm_matrix, i);
            compass.learn_offsets();

            const Vector3f &mag = compass.get_field(i);

            // capture min
            min[i][0] = MIN(mag.x, min[i][0]);
            min[i][1] = MIN(mag.y, min[i][1]);
            min[i][2] = MIN(mag.z, min[i][2]);

            // capture max
            max[i][0] = MAX(mag.x, max[i][0]);
            max[i][1] = MAX(mag.y, max[i][1]);
            max[i][2] = MAX(mag.z, max[i][2]);

            // calculate offsets
            offset[i][0] = -(max[i][0] + min[i][0]) / 2;
            offset[i][1] = -(max[i][1] + min[i][1]) / 2;
            offset[i][2] = -(max[i][2] + min[i][2]) / 2;

            // display all to user
            hal.console->printf("Heading: %.2f (%3d,%3d,%3d)",
                                ToDeg(heading),
                                (int)mag.x,
                                (int)mag.y,
                                (int)mag.z);

            // display offsets
            hal.console->printf(" offsets(%.2f, %.2f, %.2f)",
                                offset[i][0], offset[i][1], offset[i][2]);

            hal.console->printf(" t=%u", (unsigned)read_time);

            hal.console->println();
        }
    } else {
        hal.scheduler->delay(1);
    }
}
示例#3
0
void loop()
{
    static float min[3], max[3], offset[3];

    compass.accumulate();

    if((AP_HAL::micros()- timer) > 100000L)
    {
        timer = AP_HAL::micros();
        compass.read();
        unsigned long read_time = AP_HAL::micros() - timer;
        float heading;

        if (!compass.healthy()) {
            hal.console->println("not healthy");
            return;
        }
	Matrix3f dcm_matrix;
	// use roll = 0, pitch = 0 for this example
	dcm_matrix.from_euler(0, 0, 0);
        heading = compass.calculate_heading(dcm_matrix);
        compass.learn_offsets();

        // capture min
        const Vector3f &mag = compass.get_field();
        if( mag.x < min[0] )
            min[0] = mag.x;
        if( mag.y < min[1] )
            min[1] = mag.y;
        if( mag.z < min[2] )
            min[2] = mag.z;

        // capture max
        if( mag.x > max[0] )
            max[0] = mag.x;
        if( mag.y > max[1] )
            max[1] = mag.y;
        if( mag.z > max[2] )
            max[2] = mag.z;

        // calculate offsets
        offset[0] = -(max[0]+min[0])/2;
        offset[1] = -(max[1]+min[1])/2;
        offset[2] = -(max[2]+min[2])/2;

        // display all to user
        hal.console->printf("Heading: %.2f (%3d,%3d,%3d) i2c error: %u",
			    ToDeg(heading),
			    (int)mag.x,
			    (int)mag.y,
			    (int)mag.z, 
			    (unsigned)hal.i2c->lockup_count());

        // display offsets
        hal.console->printf(" offsets(%.2f, %.2f, %.2f)",
                      offset[0], offset[1], offset[2]);

        hal.console->printf(" t=%u", (unsigned)read_time);

        hal.console->println();
    } else {
	    hal.scheduler->delay(1);
    }
}
示例#4
0
// loop
static void loop()
{
    static const uint8_t compass_count = compass.get_count();
    static float min[COMPASS_MAX_INSTANCES][3];
    static float max[COMPASS_MAX_INSTANCES][3];
    static float offset[COMPASS_MAX_INSTANCES][3];

    // run read() at 10Hz
    if ((AP_HAL::micros() - timer) > 100000L) {
        timer = AP_HAL::micros();
        compass.read();
        const uint32_t read_time = AP_HAL::micros() - timer;

        for (uint8_t i = 0; i < compass_count; i++) {
            float heading;

            hal.console->printf("Compass #%u: ", i);

            if (!compass.healthy()) {
                hal.console->printf("not healthy\n");
                continue;
            }

            Matrix3f dcm_matrix;
            // use roll = 0, pitch = 0 for this example
            dcm_matrix.from_euler(0, 0, 0);
            heading = compass.calculate_heading(dcm_matrix, i);

            const Vector3f &mag = compass.get_field(i);

            // capture min
            min[i][0] = MIN(mag.x, min[i][0]);
            min[i][1] = MIN(mag.y, min[i][1]);
            min[i][2] = MIN(mag.z, min[i][2]);

            // capture max
            max[i][0] = MAX(mag.x, max[i][0]);
            max[i][1] = MAX(mag.y, max[i][1]);
            max[i][2] = MAX(mag.z, max[i][2]);

            // calculate offsets
            offset[i][0] = -(max[i][0] + min[i][0]) / 2;
            offset[i][1] = -(max[i][1] + min[i][1]) / 2;
            offset[i][2] = -(max[i][2] + min[i][2]) / 2;

            // display all to user
            hal.console->printf("Heading: %.2f (%3d, %3d, %3d)",
                                (double)ToDeg(heading),
                                (int)mag.x,
                                (int)mag.y,
                                (int)mag.z);

            // display offsets
            hal.console->printf(" offsets(%.2f, %.2f, %.2f)",
                                (double)offset[i][0],
                                (double)offset[i][1],
                                (double)offset[i][2]);

            hal.console->printf(" t=%u", (unsigned)read_time);

            hal.console->printf("\n");
        }
    } else {

        // if stipulated time has not passed between two distinct readings, delay the program for a millisecond
        hal.scheduler->delay(1);
    }
}