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Compass: implement automatic compass orientation #8927

Merged
merged 16 commits into from
Jul 18, 2018
Merged

Compass: implement automatic compass orientation #8927

merged 16 commits into from
Jul 18, 2018

Commits on Jul 18, 2018

  1. Tools: Add quotes in ChibiOS waf file 

    Without these quotes, the ChibiOS build fails if there are spaces in the Ardupilot path, ie ``C:\Stephen Dade\files\ardupilot``
    @stephendade @tridge
    stephendade authored and tridge committed Jul 18, 2018
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  2. AP_AHRS: don't do yaw correction in DCM while calibrating compass 

    this avoids applying bad compass yaw, and helps the compass
calibration code
    @tridge
    tridge committed Jul 18, 2018
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  3. AP_AHRS: added get_DCM_rotation_body_to_ned() 

    this specifically asks for the DCM attitude, which will be used for
the comass calibration to help determine compass orientation
    @tridge
    tridge committed Jul 18, 2018
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  4. SITL: added diagonal, off-diagonal and orientation of SITL compass

    @tridge
    tridge committed Jul 18, 2018
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  5. AP_Math: added a comment on conventions for to_euler()

    @tridge
    tridge committed Jul 18, 2018
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  6. AP_Compass: support diagonal, off-diagonal and rotation in SITL 

    compass
    @tridge
    tridge committed Jul 18, 2018
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  7. AP_Compass: implement automatic compass orientation 

    this automatically determines the compass orientation when doing a 3D
compass calibration, if COMPASS_ROT_AUTO is enabled.
    @tridge
    tridge committed Jul 18, 2018
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  8. AP_Compass: improved orientation reporting 

    and fail magcal if we fail orientation detection for an external
compass
    @tridge
    tridge committed Jul 18, 2018
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  9. AP_Compass: allow for runtime changes to SIM_MAG_DIA_? 

    this makes for easier testing
    @tridge
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  10. AP_Compass: allow diagonals and off-diagonals to be calculated on rot… 

    … change

this re-runs the fit on change in orientation
    @tridge
    tridge committed Jul 18, 2018
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  11. mavlink: extend MAG_CAL_REPORT

    @tridge
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  12. AP_Compass: improved error reporting, check all compasses 

    this uses extensions to the MAG_CAL_REPORT message to convey failures
of orientation checking.

It also checks all compasses, external or internal. It only tries to
fix the orientation if it is external
    @tridge
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  13. AP_Compass: make COMPASS_ROT_AUTO take 3 values 

    0 for disabled, 1 for check only, 2 for check and fix
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  14. AP_Compass: fixed newline in statustext

    @tridge
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  15. AP_Compass: don't do auto-orientation if using ROTATION_CUSTOM

    @tridge
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  16. AP_Compass: rename COMPASS_ROT_AUTO to COMPASS_AUTO_ROT 

    request from Randy
    @tridge
    tridge committed Jul 18, 2018
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