HMC58xx magnetometer.
Module for standalone operation/logging of a HMC58xx magnetometer. An arbitrary rotation between the sensor frame and the IMU frame can be compensated with a MAG_TO_IMU rotation (defined by three euler angles). The three angles must be defined to enable this correction. Otherwise it is assumed that the axis are aligned.
Example for airframe file
Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!
<module name="mag_hmc58xx">
b'<define name="MODULE_HMC58XX_SYNC_SEND" value="TRUE|FALSE" />\n '
b'<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE|FALSE" />\n '
b'<define name="HMC58XX_CHAN_X_SIGN" value="+|-" />\n '
b'<define name="HMC58XX_CHAN_Y_SIGN" value="+|-" />\n '
b'<define name="HMC58XX_CHAN_Z_SIGN" value="+|-" />\n '
b'<define name="HMC58XX_CHAN_X" value="0|1|2" />\n '
b'<define name="HMC58XX_CHAN_Y" value="0|1|2" />\n '
b'<define name="HMC58XX_CHAN_Z" value="0|1|2" />\n '
b'<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1" />\n '
</module>
Module configuration options
Configure Options
- name:
MAG_HMC58XX_I2C_DEV
value: i2c1
Description: I2C device to use (e.g. i2c1)
Define Options
- name:
MODULE_HMC58XX_SYNC_SEND
value: TRUE|FALSE
Description: Send IMU_RAW message with each new measurement (default: FALSE)
- name:
MODULE_HMC58XX_UPDATE_AHRS
value: TRUE|FALSE
Description: Copy measurements to imu and send as ABI message (default: FALSE)
- name:
HMC58XX_CHAN_X_SIGN
value: +|-
Description: Reverse polarity of x axis (default: +)
- name:
HMC58XX_CHAN_Y_SIGN
value: +|-
Description: Reverse polarity of y axis (default: +)
- name:
HMC58XX_CHAN_Z_SIGN
value: +|-
Description: Reverse polarity of z axis (default: +)
- name:
HMC58XX_CHAN_X
value: 0|1|2
Description: Channel id of x axis (default: 0)
- name:
HMC58XX_CHAN_Y
value: 0|1|2
Description: Channel id of y axis (default: 1)
- name:
HMC58XX_CHAN_Z
value: 0|1|2
Description: Channel id of z axis (default: 2)
Airframe file section
- section name:
MAG_HMC
prefix: HMC58XX_
- name
MAG_TO_IMU_PHI
value: 0.0
Description: Rotation between sensor frame and IMU frame (phi angle)
- name
MAG_TO_IMU_THETA
value: 0.0
Description: Rotation between sensor frame and IMU frame (theta angle)
- name
MAG_TO_IMU_PSI
value: 0.0
Description: Rotation between sensor frame and IMU frame (psi angle)
Module functions
Init Functions
These initialization functions are called once on startup.
Event Functions
These event functions are called in each cycle of the module event loop.
Periodic Functions
These functions are called periodically at the specified frequency from the module periodic loop.
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw mag_hmc58xx.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="mag_hmc58xx" dir="sensors" task="sensors">
<doc>
<description>
HMC58xx magnetometer.
Module for standalone operation/logging of a HMC58xx magnetometer.
An arbitrary rotation between the sensor frame and the IMU frame can be compensated with a MAG_TO_IMU rotation (defined by three euler angles). The three angles must be defined to enable this correction. Otherwise it is assumed that the axis are aligned.
</description>
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1" description="I2C device to use (e.g. i2c1)"/>
<define name="MODULE_HMC58XX_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement (default: FALSE)"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to imu and send as ABI message (default: FALSE)"/>
<define name="HMC58XX_CHAN_X_SIGN" value="+|-" description="Reverse polarity of x axis (default: +)"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+|-" description="Reverse polarity of y axis (default: +)"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="+|-" description="Reverse polarity of z axis (default: +)"/>
<define name="HMC58XX_CHAN_X" value="0|1|2" description="Channel id of x axis (default: 0)"/>
<define name="HMC58XX_CHAN_Y" value="0|1|2" description="Channel id of y axis (default: 1)"/>
<define name="HMC58XX_CHAN_Z" value="0|1|2" description="Channel id of z axis (default: 2)"/>
<section name="MAG_HMC" prefix="HMC58XX_">
<define name="MAG_TO_IMU_PHI" value="0.0" description="Rotation between sensor frame and IMU frame (phi angle)"/>
<define name="MAG_TO_IMU_THETA" value="0.0" description="Rotation between sensor frame and IMU frame (theta angle)"/>
<define name="MAG_TO_IMU_PSI" value="0.0" description="Rotation between sensor frame and IMU frame (psi angle)"/>
</section>
</doc>
<dep>
<depends>i2c,@imu</depends>
<provides>mag</provides>
</dep>
<header>
<file name="mag_hmc58xx.h"/>
</header>
<init fun="mag_hmc58xx_module_init()"/>
<periodic fun="mag_hmc58xx_module_periodic()" freq="60"/>
<periodic fun="mag_hmc58xx_report()" freq="10" autorun="FALSE"/>
<event fun="mag_hmc58xx_module_event()"/>
<makefile target="ap">
<file name="mag_hmc58xx.c"/>
<file name="hmc58xx.c" dir="peripherals"/>
<raw>
ifeq ($(MAG_HMC58XX_I2C_DEV),)
$(error mag_hmc58xx module error: please configure MAG_HMC58XX_I2C_DEV)
endif
</raw>
<configure name="MAG_HMC58XX_I2C_DEV" default="TRUE" case="upper|lower"/>
<define name="USE_$(MAG_HMC58XX_I2C_DEV_UPPER)"/>
<define name="MAG_HMC58XX_I2C_DEV" value="$(MAG_HMC58XX_I2C_DEV_LOWER)"/>
<test>
<define name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
<define name="USE_I2C1"/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
<define name="USE_UART0"/>
</test>
</makefile>
</module>