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Add magnetic heading as debug and magnetic declination for the Mahony filter (#13073)

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* Add mag heading to GPS Rescue heading debug

* Roll and pitch compensated magnetic yaw

* Changes according to PR comments

* Encapsulate yawMag calculations

* Corrected naming

* Changes according to PR comments

* Changes so that Checks don't fail

* Added PARAM_NAME list

* Changes so that Checks don't fail

* Changes according to PR comments

* Update src/main/fc/parameter_names.h

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Changes according to PR comments

* 200Hz compass task

* fix wait status flag

* increase default ODR of HMC5883L to 75Hz

* fix spikes in MagYaw debug by re-calc only on new data

---------

Co-authored-by: ctzsnooze <chris.thompson@sydney.edu.au>
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
This commit is contained in:
pichim 2023-09-27 00:01:22 +01:00 • committed by GitHub
parent 1856d6f7ef
commit 9ada5638a3
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GPG key ID: 4AEE18F83AFDEB23
10 changed files with 96 additions and 32 deletions
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10
src/main/sensors/compass.c
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@ -117,6 +117,7 @@ void pgResetFn_compassConfig(compassConfig_t *compassConfig)
}
static int16_t magADCRaw[XYZ_AXIS_COUNT];
static int16_t magADCRawPrevious[XYZ_AXIS_COUNT];
static uint8_t magInit = 0;
void compassPreInit(void)
@ -375,12 +376,17 @@ uint32_t compassUpdate(timeUs_t currentTimeUs)
if (busBusy(&magDev.dev, NULL) || !magDev.read(&magDev, magADCRaw)) {
// No action was taken as the read has not completed
schedulerIgnoreTaskExecRate();
return 1000; // Wait 1ms between states
return 500; // Wait 500us between states
}
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
if (magADCRaw[axis] != magADCRawPrevious[axis]) {
// this test, and the isNewMagADCFlag itself, is only needed if we calculate magYaw in imu.c
mag.isNewMagADCFlag = true;
}
mag.magADC[axis] = magADCRaw[axis];
}
if (magDev.magAlignment == ALIGN_CUSTOM) {
alignSensorViaMatrix(mag.magADC, &magDev.rotationMatrix);
} else {
@ -413,6 +419,6 @@ uint32_t compassUpdate(timeUs_t currentTimeUs)
}
}
return TASK_PERIOD_HZ(10);
return TASK_PERIOD_HZ(TASK_COMPASS_RATE_HZ);
}
#endif // USE_MAG