Probe for rm3100 #10581

khancyr · 2019-02-20T14:13:09Z

No description provided.

tridge

TMRC and CMM don't look right

tridge · 2019-02-21T10:49:17Z

libraries/AP_Compass/AP_Compass_RM3100.cpp

@@ -117,13 +117,15 @@ bool AP_Compass_RM3100::init()
        ccy1 != CCP1_DEFAULT || ccy0 != CCP0_DEFAULT ||
        ccz1 != CCP1_DEFAULT || ccz0 != CCP0_DEFAULT) {
        // couldn't read one of the cycle count registers or didn't recognize the default cycle count values
-        goto fail;


this change doesn't seem to do anything?

it just remove the goto that is useless

libraries/AP_Compass/AP_Compass_RM3100.cpp

tridge · 2019-02-22T00:41:14Z

libraries/AP_Compass/AP_Compass_RM3100.cpp

-    dev->write_register(RM3100_TMRC_REG, TMRC, true); // cycle count z
-    dev->write_register(RM3100_CMM_REG, CMM, false); // CMM configuration
+    dev->write_register(RM3100_TMRC_REG, TMRC, true); // CMM data rate
+    dev->write_register(RM3100_CMM_REG, CMM, true); // CMM configuration


have you flight tested the use of CMM? If so, can you please give a flight log?
It does look like we should enable it, but it needs testing, and we should use a valid TMRC value.

I use this code to test the sensors, and the reading looks fine and agree with other compass. Surely with wrong TMRC, it get back to default value . here are some logs with the RM3100 as compass2 with this code : https://drive.google.com/open?id=19pSJBCCyfYx-mhPedg6KyBzomxzbfQEy

OXINARF · 2019-02-22T15:02:25Z

libraries/AP_Compass/AP_Compass_RM3100.cpp

@@ -117,13 +117,15 @@ bool AP_Compass_RM3100::init()
        ccy1 != CCP1_DEFAULT || ccy0 != CCP0_DEFAULT ||
        ccz1 != CCP1_DEFAULT || ccz0 != CCP0_DEFAULT) {
        // couldn't read one of the cycle count registers or didn't recognize the default cycle count values
-        goto fail;
+        // hal.console->printf("RM3100: Unable to read the register for whoami test\n");


…te rate

khancyr · 2019-03-01T19:25:10Z

@tridge here is two logs with this PR :

rm3100-01032019.zip

auturgy · 2019-03-11T23:20:48Z

https://discuss.ardupilot.org/t/rm3100-wont-enumerate/39623

auturgy · 2019-04-28T22:43:08Z

I think you’ve commented on the wrong thread. Perhaps raise a new issue with a log? Regards, James

…

On 29 Apr 2019, at 7:57 am, rbachtell ***@***.***> wrote: It appears tome that the latest master release broke the can-flow code. I had it working previously and just compiled a version with yesterday’s master release and now I get an IMU1 forced reset loop, if I turn off optical flow it works properly and also works with PX4flow/I2C although it does a single forced reset before becoming functional. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

khancyr · 2019-05-22T13:18:29Z

@tridge ping on this ! This driver has successfully fly since some weeks already

OXINARF · 2019-08-02T17:40:51Z

I have a version of this at https://github.com/OXINARF/ardupilot/commits/review/10581. I believe that's the correct code.

It seems there was some confusion here with the simple change to add the CMM register to the checked registers. The TMRC register should be set, otherwise the default update rate is too low.

@khancyr if you are OK with it, I'll push it here and then add this for the dev call.

zyromskij · 2019-08-07T14:51:27Z

Hi :) I've done a few flights with RM3100 (Compass 2). Works great 🙂 Mag biases are much smaller compared to onboard ones. Also, it seems to have slightly less noise. Compass was intentionally placed (together with CubeBlack) just above the noisy ESCs
(We also tried that some time ago with HERE GPS but it was toilet bowling like crazy)
Please let me know if more testing is needed. Here are the logs:

RM3100_logs_02_08_19.zip

weaverlave · 2019-09-17T15:07:07Z

Any news when the RM3100 will be compatible with ArduRover? I would like test this on a big agriculture rover.

rbachtell · 2019-09-17T15:55:33Z

PM me, I have a working latest master .apj I have been using on a scale rover.

…

On Sep 17, 2019, at 8:07 AM, weaverlave ***@***.***> wrote: Any news when the RM3100 will be compatible with ArduRover? I would like test this on a big agriculture rover. — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#10581?email_source=notifications&email_token=AC3NAIHBG73KANTSJPBEOTDQKDXEBA5CNFSM4GYVHLHKYY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOD643GRI#issuecomment-532263749>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AC3NAIEW7SKCAVK233YLZQLQKDXEBANCNFSM4GYVHLHA>.

weaverlave · 2019-09-17T16:24:10Z

PM me, I have a working latest master .apj I have been using on a scale rover.
…
On Sep 17, 2019, at 8:07 AM, weaverlave @.***> wrote: Any news when the RM3100 will be compatible with ArduRover? I would like test this on a big agriculture rover. — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#10581?email_source=notifications&email_token=AC3NAIHBG73KANTSJPBEOTDQKDXEBA5CNFSM4GYVHLHKYY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOD643GRI#issuecomment-532263749>, or mute the thread https://github.com/notifications/unsubscribe-auth/AC3NAIEW7SKCAVK233YLZQLQKDXEBANCNFSM4GYVHLHA.

Can´t send a PM to your acount. Maybe you can email me: jensweber95@web.de Thanks alot!

rbachtell · 2019-11-13T20:06:22Z

@OXINARF @khancyr Any chance this could be merged soon? We have a new ArduPilot-centric manufacturer with 3100 I2c and UAVCAN units in prototype and integrated GPS/3100 on the drawing board. It would be very useful to have this in master when they go to beta testing. They have the probe compiled as do I with hours of testing and no issues. Let me know if I can be of any help, I would be more than happy to do whatever I can. Thanks, RB

zyromskij · 2019-12-02T16:44:40Z

Here is another package of flash logs from a successful flights - CubePilot with an RM3100 module running on the I2C bus in a quadcopter.
(magnetometer with id: 1122305) - apj. kindly provided by @rbachtell

Compass was deliberately placed 2-3cm above noise ESC - we tried that with ICM 9dof sensor and immediately after takeoff, we had to switch to manual mode since the interference was too big ;)

https://drive.google.com/file/d/1SnTKaqwUuK8Oh6Itl7fhxsQKs4tTJdme/view?usp=sharing

tridge · 2019-12-10T00:30:14Z

libraries/AP_Compass/AP_Compass.cpp

+            ADD_BACKEND(DRIVER_RM3100, AP_Compass_RM3100::probe(GET_I2C_DEVICE(i, HAL_COMPASS_RM3100_I2C_ADDR),
+                                                                true, ROTATION_NONE));
+    }
+    FOREACH_I2C_INTERNAL(i) {


why are we probing interbal bus? for internal it should be an explicit line in hwdef.dat

Excuse my lack of understanding but how does this differ from all the other internal i2c probes in this file?

rmackay9 · 2019-12-18T13:15:42Z

This came up in the Copter-4.0 testing thread here: https://discuss.ardupilot.org/t/copter-4-0-0-rc3-available-for-beta-testing/50250/18 so I'll add it to the to-do list for Copter-4.0 (but not as a blocker)

tridge · 2019-12-20T22:42:26Z

@OXINARF I have merged your version to master
@khancyr sorry this took so long!

khancyr · 2019-12-21T09:42:48Z

No worries ! Thanks for handling that !

khancyr added the Library label Feb 20, 2019

tridge requested changes Feb 22, 2019

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OXINARF reviewed Feb 22, 2019

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khancyr mentioned this pull request Feb 25, 2019

copter 3.6 Geomagnetometer RM3100 #10626

Closed

khancyr added 3 commits March 1, 2019 17:52

AP_Compass: probe for RM3100

401c8b5

AP_Compass: add corection for CMM configuration and correct debuging msg

97db19e

AP_Compass: RM3100, don't touch TMRC register to use defualt CMM upda…

1eae546

…te rate

khancyr mentioned this pull request Jun 20, 2019

RM3100 driver corrections #11627

Closed

OXINARF requested a review from tridge June 26, 2019 13:23

auturgy added the DevCallTopic label Dec 7, 2019

tridge requested changes Dec 10, 2019

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rmackay9 mentioned this pull request Dec 18, 2019

Copter: 4.0 issues list #12547

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tridge closed this Dec 20, 2019

CraigElder removed the DevCallTopic label Jul 26, 2021

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Probe for rm3100 #10581

Probe for rm3100 #10581

khancyr commented Feb 20, 2019

tridge left a comment

tridge Feb 21, 2019

khancyr Feb 22, 2019

tridge Feb 22, 2019

khancyr Feb 22, 2019

OXINARF Feb 22, 2019

khancyr commented Mar 1, 2019

auturgy commented Mar 11, 2019

auturgy commented Apr 28, 2019 via email

khancyr commented May 22, 2019

OXINARF commented Aug 2, 2019

zyromskij commented Aug 7, 2019

weaverlave commented Sep 17, 2019

rbachtell commented Sep 17, 2019 via email

weaverlave commented Sep 17, 2019

rbachtell commented Nov 13, 2019

zyromskij commented Dec 2, 2019

tridge Dec 10, 2019

rbachtell Dec 10, 2019

rmackay9 commented Dec 18, 2019

tridge commented Dec 20, 2019

khancyr commented Dec 21, 2019

Probe for rm3100 #10581

Probe for rm3100 #10581

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