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sensor_mag.msg: add is_external flag & set it in the mag drivers

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With this we don't have to use the ioctl MAGIOCGEXTERNAL, which does not
work on POSIX (eg. RPi).
This commit is contained in:
Beat Küng
2017-06-14 11:19:29 +02:00
committed by Lorenz Meier
parent 19cdbcfd4f
commit ce7d8d2270
15 changed files with 35 additions and 27 deletions
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src/modules/sensors/voted_sensors_update.cpp
+17 -19
View File
@@ -406,6 +406,7 @@ void VotedSensorsUpdate::parameters_update()
}
int topic_device_id = report.device_id;
bool is_external = (bool)report.is_external;
_mag_device_id[topic_instance] = topic_device_id;
// find the driver handle that matches the topic_device_id
@@ -465,28 +466,25 @@ void VotedSensorsUpdate::parameters_update()
(void)sprintf(str, "CAL_MAG%u_ROT", i);
if (h.isValid()) { //FIXME: get the 'is external' information via uorb topic
if (h.ioctl(MAGIOCGEXTERNAL, 0) <= 0) {
/* mag is internal - reset param to -1 to indicate internal mag */
int32_t minus_one;
param_get(param_find(str), &minus_one);
if (is_external) {
int32_t mag_rot;
param_get(param_find(str), &mag_rot);
if (minus_one != MAG_ROT_VAL_INTERNAL) {
minus_one = MAG_ROT_VAL_INTERNAL;
param_set_no_notification(param_find(str), &minus_one);
}
/* check if this mag is still set as internal, otherwise leave untouched */
if (mag_rot < 0) {
/* it was marked as internal, change to external with no rotation */
mag_rot = 0;
param_set_no_notification(param_find(str), &mag_rot);
}
} else {
/* mag is external */
int32_t mag_rot;
param_get(param_find(str), &mag_rot);
} else {
/* mag is internal - reset param to -1 to indicate internal mag */
int32_t minus_one;
param_get(param_find(str), &minus_one);
/* check if this mag is still set as internal, otherwise leave untouched */
if (mag_rot < 0) {
/* it was marked as internal, change to external with no rotation */
mag_rot = 0;
param_set_no_notification(param_find(str), &mag_rot);
}
if (minus_one != MAG_ROT_VAL_INTERNAL) {
minus_one = MAG_ROT_VAL_INTERNAL;
param_set_no_notification(param_find(str), &minus_one);
}
}
src/modules/uavcan/sensors/mag.cpp
+1
View File
@@ -156,6 +156,7 @@ void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<ua
*/
_report.timestamp = hrt_absolute_time();
_report.device_id = _device_id.devid;
_report.is_external = true;
_report.x = (msg.magnetic_field_ga[0] - _scale.x_offset) * _scale.x_scale;
_report.y = (msg.magnetic_field_ga[1] - _scale.y_offset) * _scale.y_scale;