QST QMC5883L cleanup/rewrite #14384

dagar · 2020-03-13T04:57:49Z

Similar to #14383, this PR is a cleanup/rewrite of the QST QMC5883L driver.

simple state machine to reset, configure, etc (all sleeps removed)
checked register mechanism
if you disconnect and reconnect the sensor it will detect the bad settings and reconfigure itself
old driver had a SPI interface (that doesn't physically exist)

TODO:

review ODR selection
review range
review rotation (test on mRo GPS, etc)

					// Sensor orientation
					//  Forward X := +X
					//  Right   Y := -Y
					//  Down    Z := -Z

dagar · 2020-08-25T23:43:15Z

@rolandash can you comment on the usage of the qmc5883l on the mindpx2?

https://github.com/PX4/Firmware/blob/60a7f7f9f2091d8949d8bc08446d3a5408010ca2/boards/airmind/mindpx-v2/init/rc.board_sensors#L10

rolandash · 2020-08-28T07:02:41Z

@rolandash can you comment on the usage of the qmc5883l on the mindpx2?

You mean in the context of this PR?

dagar · 2020-08-28T22:21:13Z

@rolandash can you comment on the usage of the qmc5883l on the mindpx2?

You mean in the context of this PR?

Yes, is it actually used (internally) and how is it mounted?

rolandash · 2020-08-29T03:54:10Z

@rolandash can you comment on the usage of the qmc5883l on the mindpx2?

You mean in the context of this PR?

Yes, is it actually used (internally) and how is it mounted?

Yes the new shipments have changed to QMC5883.
It is a drop-in replacement to HMC5883, no changes to PCB. The mounting is exactly the same.

It works fine on v1.10.x. However I did not test against this PR yet.

dagar · 2020-08-30T18:27:04Z

Bench tested with an mRo GPS unit.

With the orientation from the datasheet preserved (X = X) the mRo direction of flight is rotation 10 (ROTATION_ROLL_180_YAW_90), which mag cal auto rotation correctly found and set.

INFO  [commander] [cal] External Mag: 1 (396809), no rotation change: 0
INFO  [commander] [cal] External Mag: 2 (527649), determined rotation: 10
INFO  [sensor_calibration] MAG 396825 EN: 1, offset: [-0.035 -0.010 -0.157], scale: [ 0.989  1.000  1.023], Internal
INFO  [sensor_calibration] MAG 396809 EN: 1, offset: [ 0.055  0.034 -0.104], scale: [ 0.984  0.998  1.007], External ROT: 0
INFO  [sensor_calibration] MAG 527649 EN: 1, offset: [-0.417 -0.055 -0.008], scale: [ 0.976  1.024  1.005], External ROT: 10

INFO  [vehicle_magnetometer] selected magnetometer: 396809 (1)
INFO  [data_validator] validator: best: 1, prev best: 1, failsafe: NO (0 events)
INFO  [data_validator] sensor #0, prio: 50, state: OK
INFO  [data_validator]  val:   0.1754, lp:   0.1763 mean dev:  -0.0005 RMS:   0.0023 conf:   1.0000
INFO  [data_validator]  val:  -0.1402, lp:  -0.1385 mean dev:  -0.0000 RMS:   0.0014 conf:   1.0000
INFO  [data_validator]  val:   0.3784, lp:   0.3733 mean dev:  -0.0001 RMS:   0.0049 conf:   1.0000
INFO  [data_validator] sensor #1, prio: 75, state: OK
INFO  [data_validator]  val:   0.1694, lp:   0.1681 mean dev:  -0.0003 RMS:   0.0019 conf:   1.0000
INFO  [data_validator]  val:  -0.1267, lp:  -0.1276 mean dev:  -0.0001 RMS:   0.0014 conf:   1.0000
INFO  [data_validator]  val:   0.3789, lp:   0.3782 mean dev:  -0.0011 RMS:   0.0044 conf:   1.0000
INFO  [data_validator] sensor #2, prio: 75, state: OK
INFO  [data_validator]  val:   0.2096, lp:   0.2092 mean dev:   0.0280 RMS:   0.0569 conf:   1.0000
INFO  [data_validator]  val:  -0.1396, lp:  -0.1386 mean dev:  -0.0403 RMS:   0.0823 conf:   1.0000
INFO  [data_validator]  val:   0.3942, lp:   0.3971 mean dev:  -0.0252 RMS:   0.0512 conf:   1.0000
INFO  [sensor_calibration] MAG 396825 EN: 1, offset: [-0.035 -0.010 -0.157], scale: [ 0.989  1.000  1.023], Internal
INFO  [sensor_calibration] MAG 396809 EN: 1, offset: [ 0.055  0.034 -0.104], scale: [ 0.984  0.998  1.007], External ROT: 0
INFO  [sensor_calibration] MAG 527649 EN: 1, offset: [-0.417 -0.055 -0.008], scale: [ 0.976  1.024  1.005], External ROT: 10

dagar · 2020-08-30T18:27:53Z

@rolandash if you could quickly verify this on a mindracer-v2 we should be good to merge.

ryanjAA · 2020-09-02T18:19:48Z

Will this make it to 1.11? I know it says 1.12 but this is a pretty common HMC5883 replacement, we can physically flight test it this week if need be.

Have ~10x 1.11 rc3 flight tests with this compass (external) completed already this week so can compare against that if need be. If bench test is only needed, we can do as well.

dagar · 2020-09-02T19:25:27Z

Will this make it to 1.11? I know it says 1.12 but this is a pretty common HMC5883 replacement, we can physically flight test it this week if need be.

No, but we're going to be doing releases much more frequently going forward. Smaller (safer) incremental updates so upgrading isn't such a monumental task.

ryanjAA · 2020-09-03T14:50:06Z

I’m a big fan of incremental changes. Will definitely make upgrading easier. Ok. Sounds good.

rolandash · 2020-09-03T16:20:48Z

@rolandash if you could quickly verify this on a mindracer-v2 we should be good to merge.

Sry @dagar , I just do not have a qmc5883 test unit right now.
I will have a new qmc5883 test unit next week.

rolandash · 2020-09-08T14:41:54Z

@rolandash if you could quickly verify this on a mindracer-v2 we should be good to merge.

@dagar a quick test shows the qmc5883 driver on latest master gives wrong direction which is 180 degree reverted of true north.

I am using a mind racer-v2 with qmc5883.

dagar · 2020-09-13T22:29:40Z

@rolandash if you could quickly verify this on a mindracer-v2 we should be good to merge.

@dagar a quick test shows the qmc5883 driver on latest master gives wrong direction which is 180 degree reverted of true north.

I am using a mind racer-v2 with qmc5883.

Sorry about that, quickly fixed in master. 1984663

rolandash · 2020-09-15T11:51:35Z

thank you @dagar , that fixed it.

MikeCharikov · 2023-06-06T19:05:25Z

@dagar
Hi, Daniel!

We have met strange behaviour of this driver while migrating from 1.11 to 1.12\1.13. Often Driver regulary sticks for ~400ms. While diving into the code we have discovered that configuration registers values have been changed.

Here it is what is in 1.12 - 1.13 - Master code right now:

`// CNTL1
enum CNTL1_BIT : uint8_t {
// OSR[7:6]
OSR_512 = Bit7 | Bit6, // 00

// RNG[5:4]
RNG_2G          = Bit5 | Bit4, // 00

// ODR[3:2]
ODR_50HZ        = Bit2,        // 01

// MODE[1:0]
Mode_Continuous = Bit0,        // 01

};`

Looks like this two lines of code is incorrect

OSR_512 = Bit7 | Bit6, // 00
RNG_2G = Bit5 | Bit4, // 00

This values actually should be equal to 00 and 00, according to datasheet https://datasheet.lcsc.com/szlcsc/QST-QMC5883L-TR_C192585.pdf

But "Bit7 | Bit6" means OSR_64 and "Bit5 | Bit4" means "Reserved"

dagar · 2023-06-06T20:11:09Z

@MikeCharikov it's maybe a bit unclear, but OSR_512 and RNG_2G are cleared bits. I'll make it more explicit.

PX4-Autopilot/src/drivers/magnetometer/qmc5883l/QMC5883L.hpp

Lines 108 to 111 in 6ee2d79

    
           // Register                   | Set bits, Clear bits 
        
           { Register::CNTL1,            CNTL1_BIT::ODR_50HZ | CNTL1_BIT::Mode_Continuous, CNTL1_BIT::OSR_512 | CNTL1_BIT::RNG_2G}, 
        
           { Register::CNTL2,            CNTL2_BIT::ROL_PNT, CNTL2_BIT::SOFT_RST}, 
        
           { Register::SET_RESET_PERIOD, SET_RESET_PERIOD_BIT::FBR, 0 },

I've added some clarification in #21693, can you fix that a try and we'll continue debugging from there?

MikeCharikov · 2023-06-06T20:33:53Z

Thanks, will try to test it ASAP

dagar added Admin: Cleanup (housekeeping) 🧹 Drivers 🔧 Sensors, Actuators, etc labels Mar 13, 2020

dagar force-pushed the pr-QMC5883L_new branch from 4c79c3c to 407807a Compare March 13, 2020 05:23

dagar added this to the Release v1.12.0 milestone Mar 18, 2020

bkueng mentioned this pull request Mar 20, 2020

Drivers: SPI & I2C config simplifications (3) #14438

Merged

dagar changed the title ~~WIP: QST QML5883L cleanup/rewrite~~ QST QML5883L cleanup/rewrite May 26, 2020

dagar force-pushed the pr-QMC5883L_new branch from 407807a to 1b7b250 Compare May 26, 2020 12:37

dagar marked this pull request as ready for review May 26, 2020 12:37

dagar force-pushed the pr-QMC5883L_new branch from 1b7b250 to c5c3860 Compare May 26, 2020 12:54

dagar force-pushed the pr-QMC5883L_new branch 3 times, most recently from 47f0c27 to 228e0d2 Compare June 22, 2020 16:08

dagar force-pushed the pr-QMC5883L_new branch from 228e0d2 to 27dea0e Compare August 25, 2020 20:29

dagar changed the title ~~QST QML5883L cleanup/rewrite~~ QST QMC5883L cleanup/rewrite Aug 25, 2020

dagar force-pushed the pr-QMC5883L_new branch from 27dea0e to c6a86c2 Compare August 30, 2020 16:13

magnetometer/qmc5883l: cleanup/rewrite driver

1e345e9

dagar force-pushed the pr-QMC5883L_new branch from c6a86c2 to 1e345e9 Compare August 30, 2020 18:23

dagar merged commit 24125b3 into master Sep 2, 2020

dagar deleted the pr-QMC5883L_new branch September 2, 2020 17:16

Hoeze pushed a commit to FSRH/Firmware that referenced this pull request Sep 20, 2020

magnetometer/qmc5883l: cleanup/rewrite driver (PX4#14384)

f649166

dagar mentioned this pull request Aug 10, 2021

Consistently bad magnetometer calibration on 1.12 #18041

Closed

dagar mentioned this pull request Jun 6, 2023

drivers/magnetometer/qmc5883l: clarify set/clear bits and add overflow perf count #21693

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QST QMC5883L cleanup/rewrite #14384

QST QMC5883L cleanup/rewrite #14384

dagar commented Mar 13, 2020 •

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dagar commented Aug 25, 2020

rolandash commented Aug 28, 2020

dagar commented Aug 28, 2020

rolandash commented Aug 29, 2020 •

edited

dagar commented Aug 30, 2020

dagar commented Aug 30, 2020

ryanjAA commented Sep 2, 2020

dagar commented Sep 2, 2020

ryanjAA commented Sep 3, 2020

rolandash commented Sep 3, 2020

rolandash commented Sep 8, 2020

dagar commented Sep 13, 2020

rolandash commented Sep 15, 2020

MikeCharikov commented Jun 6, 2023

dagar commented Jun 6, 2023

MikeCharikov commented Jun 6, 2023

QST QMC5883L cleanup/rewrite #14384

QST QMC5883L cleanup/rewrite #14384

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dagar commented Mar 13, 2020 • edited

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rolandash commented Aug 28, 2020

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MikeCharikov commented Jun 6, 2023

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dagar commented Mar 13, 2020 •

edited

rolandash commented Aug 29, 2020 •

edited