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PX4Magnetometer now functional

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This commit is contained in:
Daniel Agar
2019-05-20 13:12:49 -04:00
parent 12374490cb
commit a883d8eff9
3 changed files with 77 additions and 104 deletions
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src/lib/drivers/magnetometer/PX4Magnetometer.hpp
+16 -25
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@@ -31,51 +31,42 @@
*
****************************************************************************/
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <drivers/device/integrator.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <lib/drivers/device/Device.hpp>
#include <lib/cdev/CDev.hpp>
#include <lib/conversion/rotation.h>
#include <uORB/topics/sensor_mag.h>
#include <uORB/uORB.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/sensor_mag.h>
class PX4Magnetometer : public cdev::CDev
{
public:
PX4Magnetometer(const char *name, device::Device *interface, uint8_t dev_type, enum Rotation rotation, float scale);
PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rotation rotation);
~PX4Magnetometer() override;
int init() override;
int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
int publish(float x, float y, float z, float temperature);
void set_device_type(uint8_t devtype);
void set_error_count(uint64_t error_count) { _sensor_mag_pub.get().error_count = error_count; }
void set_scale(float scale) { _sensor_mag_pub.get().scaling = scale; }
void set_temperature(float temperature) { _sensor_mag_pub.get().temperature = temperature; }
void set_external(bool external) { _sensor_mag_pub.get().is_external = external; }
void configure_filter(float sample_freq, float cutoff_freq);
void update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z);
void print_status();
private:
// Pointer to the communication interface
const device::Device *_interface{nullptr};
mag_calibration_s _cal{};
uORB::Publication<sensor_mag_s> _sensor_mag_pub;
orb_advert_t _topic{nullptr};
const enum Rotation _rotation;
device::Device::DeviceId _device_id{};
matrix::Vector3f _calibration_scale{1.0f, 1.0f, 1.0f};
matrix::Vector3f _calibration_offset{0.0f, 0.0f, 0.0f};
int _orb_class_instance{-1};
int _class_device_instance{-1};
int _class_device_instance{-1};
enum Rotation _rotation {ROTATION_NONE};
float _scale{1.0f};
math::LowPassFilter2p _filter_x{100, 20};
math::LowPassFilter2p _filter_y{100, 20};
math::LowPassFilter2p _filter_z{100, 20};
};