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drivers/magnetometer/hmc5883: fix Z direction

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This commit is contained in:
Daniel Agar 2021-11-09 11:33:10 -05:00
parent ab9b9b1eac
commit ae8fdf4c04
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GPG Key ID: FD3CBA98017A69DE
5 changed files with 13 additions and 36 deletions
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2
boards/airmind/mindpx-v2/init/rc.board_sensors
View File

@ -6,7 +6,7 @@
board_adc start
# Internal I2C bus
hmc5883 -T -I -R 12 start
hmc5883 -T -I -R 2 start
qmc5883l -I -R 6 start
mpu6000 -s -R 2 start

5
boards/px4/fmu-v2/init/rc.board_sensors
View File

@ -8,9 +8,6 @@ rgbled_ncp5623c start -I
board_adc start
# Internal I2C bus
hmc5883 -T -I -R 4 start
# Internal SPI (auto detect ms5611 or ms5607)
if ! ms5611 -T 5607 -s -b 1 start
then
@ -80,7 +77,7 @@ then
mpu6000 -s -b 1 start
# v2.0 Has internal hmc5883 on SPI1
hmc5883 -T -s -b 1 -R 8 start
hmc5883 -T -s -b 1 start
fi
if [ $BOARD_FMUV3 = 21 ]

5
boards/px4/fmu-v3/init/rc.board_sensors
View File

@ -8,9 +8,6 @@ rgbled_ncp5623c start -I
board_adc start
# Internal I2C bus
hmc5883 -T -I -R 4 start
# Internal SPI (auto detect ms5611 or ms5607)
if ! ms5611 -T 5607 -s -b 1 start
then
@ -80,7 +77,7 @@ then
mpu6000 -s -b 1 start
# v2.0 Has internal hmc5883 on SPI1
hmc5883 -T -s -b 1 -R 8 start
hmc5883 -T -s -b 1 start
fi
if [ $BOARD_FMUV3 = 21 ]

6
boards/px4/fmu-v4/init/rc.board_sensors
View File

@ -16,10 +16,10 @@ pwm_out sensor_reset 50
# Internal SPI
ms5611 -s start
# hmc5883 internal SPI bus is rotated 90 deg yaw
if ! hmc5883 -T -s -R 2 start
# hmc5883 internal SPI bus
if ! hmc5883 -T -s -R 12 start
then
# lis3mdl internal SPI bus is rotated 90 deg yaw
# lis3mdl internal SPI bus
lis3mdl -s start
fi

31
src/drivers/magnetometer/hmc5883/HMC5883.cpp
View File

@ -281,10 +281,6 @@ int HMC5883::collect()
uint8_t check_counter;
float xraw_f;
float yraw_f;
float zraw_f;
_px4_mag.set_error_count(perf_event_count(_comms_errors));
perf_begin(_sample_perf);
@ -361,28 +357,15 @@ int HMC5883::collect()
}
}
/*
* RAW outputs
*
* to align the sensor axes with the board, x and y need to be flipped
* and y needs to be negated
*/
if (!_px4_mag.external()) {
// convert onboard so it matches offboard for the
// scaling below
report.y = -report.y;
report.x = -report.x;
if (_px4_mag.external()) {
// legacy handling of the popular 3DR external compass
// x pointing to the right, y pointing backwards, and z down
_px4_mag.update(timestamp_sample, math::negate(report.y), math::negate(report.x), math::negate(report.z));
} else {
_px4_mag.update(timestamp_sample, math::negate(report.x), report.y, math::negate(report.z));
}
/* the standard external mag by 3DR has x pointing to the
* right, y pointing backwards, and z down, therefore switch x
* and y and invert y */
xraw_f = -report.y;
yraw_f = report.x;
zraw_f = report.z;
_px4_mag.update(timestamp_sample, xraw_f, yraw_f, zraw_f);
/*
periodically check the range register and configuration
registers. With a bad I2C cable it is possible for the