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341 Commits
Author SHA1 Message Date
Peter BarkerandClaude Opus 5 a78ff48a62 AP_Compass: add a feature gate for copy-from-EKF calibration 
AP_COMPASS_LEARN_COPY_FROM_EKF_ENABLED, defaulting to
COMPASS_LEARN_ENABLED && AP_AHRS_ENABLED, so the disarm-time copying of
EKF-learned offsets can be compiled out on its own.

save_ekf_learned_offsets() moves out of the COMPASS_LEARN_ENABLED block
in Compass_learn.cpp so the two are genuinely separable; the in-flight
learner drags in the EKF-GSF yaw estimator, which this does not need.

Verified with nm: Compass::save_ekf_learned_offsets is present in a
default build and absent when the define is 0, with COMPASS_LEARN_ENABLED
still enabled.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
 2026-09-04 09:29:27 +10:00
Peter BarkerandClaude Opus 5 1f1072c46d AP_Compass: add save_ekf_learned_offsets 
Moves the "save compass offsets learned by the EKF" logic out of the
vehicle AP_Arming subclasses, where it was duplicated verbatim in
Copter, Sub and Blimp, and into the library that owns the parameters
being written.

The AHRS is now checked for health before its estimates are copied.

Note the loop over COMPASS_MAX_INSTANCES is not redundant: a single EKF
core only ever returns offsets for its own selected compass, but with
EK3_AFFINITY compass affinity each core takes a different compass and
the frontend asks every core for each instance in turn.

Also drops a stale reference to ::learn_offsets, which no longer
exists, and corrects the COMPASS_LEARN description, which still
advertised the removed compass-only fixed wing method.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
 2026-09-04 09:29:27 +10:00
Peter Barker bc914006bf AP_Compass: remove primary compass parameter conversion 
Converted the old COMPASS_PRIMARY into the device-id priority list.
Added Feb-2020 and present in the 4.3.0 release, so anybody running
4.3.0 or later has already had it applied.

Note that the conversion sat inside Compass::init(), below its

    if (!_enabled) {
        return;
    }

early return, so "present in the release" is not quite the same as "has
run".  A user who has had COMPASS_ENABLE=0 for every release from 4.3
onwards never reached the conversion, and if they enable the compass
after moving to 4.8 their old COMPASS_PRIMARY selection is not honoured.
That is judged too unlikely - and the parameter too old - to keep the
conversion for.
 2026-09-01 20:49:36 +10:00
“Jim 4f48a09e7f AP_Compass: add AF9838 backend 2026-08-31 08:18:54 +10:00
Peter Barker 013b6649c7 AP_Compass: annotate primary compass parameter conversion 
Converts the old COMPASS_PRIMARY into the device-id priority list.
Added Feb-2020; it carried no PARAMETER_CONVERSION annotation.
 2026-08-31 08:18:26 +10:00
Peter Barker 134b535916 AP_Compass: remove stale CUSTOM_ROLL/CUSTOM_PIT_CUSTOM_YAW param doc 
removes as the conversion code is also going, and we have versioned parameters now-adays
 2026-08-26 09:47:38 +10:00
Peter Barker 94ef9886f6 AP_Compass: remove from-4.1 custom-rotation conversion code 2026-08-26 09:47:38 +10:00
Peter Barker 643fe19f0f AP_Compass: correct '#endif // COMMENT' comments 
these should always match the opening #if
 2026-08-04 11:59:14 +10:00
Peter Barker ba34b23c61 AP_Compass: guard probing external IIS2MDC with new define
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2026-06-01 17:05:32 +10:00
Jacob Dahl 7327339a95 AP_Compass: remove LIS2MDL driver, use IIS2MDC 
LIS2MDL and IIS2MDC are the same ST silicon with identical register
maps, WHO_AM_I, I2C address and sensitivity. Remove the separate
LIS2MDL driver entirely and switch boards that referenced it to IIS2MDC.

AIRBRAINH743 COMPASS line changed from LIS2MDL to IIS2MDC.
 2026-06-01 17:05:32 +10:00
Peter Barker ef6ba3d0d5 AP_Compass: move logging of MAG message into AP_Compass 2026-05-26 22:30:45 +10:00
Brown 527d981d97 AP_Compass: add RM3100 probe option 
Add a per-driver option for RM3100 internal bus probing.
This lets boards disable the generic RM3100 internal probe
without changing internal probing for other compass drivers.
 2026-05-20 18:45:48 +10:00
Peter Barker 8a044f99a0 AP_Compass: ignore too-many-compasses-on-registration errors 
panicing on something which can run in-flight is just dangerous.
 2026-02-24 10:51:59 +11:00
Peter Barker d3ddac74ea AP_Compass: remove HAL_CHIBIOS_ARCH_MINDPXV2 
MinxPX is the only board using it, and it specifies everything
 2026-01-20 10:44:35 +11:00
Peter Barker 2d2cbf49dc AP_Compass: remove HAL_CHIBIOS_ARCH_FMUV5+ 2026-01-13 11:00:56 +11:00
Peter Barker 7e87c92e0c AP_Compass: rename _have_i2c_driver to _i2c_sensor_is_registered 2026-01-03 10:10:16 +00:00
Peter Barker 096d240908 AP_Compass: move from add_backend to probe_i2c_device for MMC5XX3 2025-12-10 21:49:48 +11:00
Peter Barker 3e515f2a45 AP_Compass: use aliases to make new methods clearer 2025-12-10 21:49:48 +11:00
Peter Barker 5d15a960dc AP_Compass: use parameters rather than constants in probe_ak09916_via_icm20948 2025-12-10 21:49:48 +11:00
Peter Barker 9534069dff AP_Compass: add some helper functions for compass probing 
... and stop leaking memory if the device isn't enabled
 2025-12-10 21:49:48 +11:00
Peter Barker 4aa5b58de6 AP_Compass: all backends take a generic Device rather than an I2CDevice 2025-12-10 21:49:48 +11:00
Peter Barker 4ae0c0401c AP_Compass: remove internal probing of MMC5XX3 compass 
these should really only ever be in the hwdef if they are internal; we don't need generic probing of these!
 2025-12-07 20:25:26 +11:00
jagadeeshdinesh 0ea41a4246 AP_Compass: add support for MMC5XX3 (MMC5983MA) external I2C compasses 2025-12-05 07:30:18 +11:00
Peter Barker febcb3c1a8 AP_Compass: correct compilation for LIS2MDL/ADD_BACKEND PR crossover 2025-11-27 00:10:08 +11:00
Peter Barker 3b575e0559 AP_Compass: merge add_backend and _add_backend 
folding these together makes us check the driver is enabled a little redundantly, but that's OK.
 2025-11-26 20:44:21 +11:00
Peter Barker fa4e31ff14 AP_Compass: make ADD_BACKEND a method not a macro 
code generation isn't great, preparation for future cleanups
 2025-11-26 20:44:21 +11:00
Peter Barker 461c1b7236 AP_Compass: remove CHECK_UNREG_LIMIT_RETURN from ADD_BACKEND, rename 
new name is same as in AP_Baro.  We probably want to have an elif for when we have filled up our compasses in the no-unregistered case
 2025-11-26 20:44:21 +11:00
Andy Piper a2949578ed AP_Compass: support for LIS2MDL 2025-11-26 18:25:43 +11:00
bugobliterator a6d03bb8a1 AP_Compass: fix issue with compass registration for more than 3 compasses 
This fixes an issue where we would fail to register a dronecan compass
if its not already in the stored DEV_ID position that matches the detection order

This is fixed by ensuring that we try our best to register the compass in the stored DEV_ID position
that matches the priority order.

This in turn allows for over 3 dronecan compasses to appear and not cause incorrect
registration failures at boot.
 2025-11-26 18:05:59 +11:00
bugobliterator afdd95d34e AP_Compass: use MAX_CONNECTED_MAGS for DroneCAN registration 
this allows for more than 3 DroneCAN compasses to be on the bus.
 2025-11-26 18:05:59 +11:00
Peter Barker 03e1f0180c AP_Compass: tidy compass probing defines 
- stop using #ifdef defines
 - use current standard naming schemes
 - remove the double-negatives
 2025-11-05 19:35:27 +11:00
Peter Barker 944ef566ec AP_Compass: rename HAL_PROBE_EXTERNAL_I2C_COMPASSES to AP_COMPASS_PROBING_ENABLED 
... and force it to have a value, not just be defined
 2025-10-27 18:24:18 -05:00
Peter Barker a657744a2f AP_Compass: rework SITL backend to be a single-instance 
rather than this odd thing which acts as multiple backends
 2025-10-08 13:23:49 +11:00
Peter Barker 9ea20dc132 AP_Compass: add a MSP probe method which can fail 
currently registering an MSP backend can't fail, so if we fail to register (e.g. out of slots) then we can end up overwriting other's data.

Add a probe method which can return nullptr on failure
 2025-09-30 15:10:09 +10:00
Peter Barker 39a4032f70 AP_Compass: add a probe method to AP_Compass_ExternalAHRS 
this allows for the creation of the backend to fail gracefully

without this the backend will still have a value of 0, and will still get updated, overwriting the data for one of the registered compasses
 2025-09-23 08:59:56 +09:00
Peter Barker 8189f7693e AP_Compass: remove remaining vrbrain FMU architectures and PX4_BOARD_TYPEs 2025-06-25 18:17:19 +10:00
Peter Barker 17bd219c7f AP_Compass: remove support for SP01 board 
there's no automatic setting for this board, so it would have been selected by parameter only.

This was a development board pre-PCNC01 - it wasn't widely distributed.

If we want this back we can create a full-on board for it...
 2025-06-24 10:38:58 +10:00
Peter Barker 162e2e0ff4 AP_Compass: remove PCNC1 board type 
only used for one board, so inline everything required
 2025-06-17 10:59:00 +10:00
Peter Barker 88d0bdb1bf AP_Compass: move VRBrain-v54 sensors to hwdef 2025-06-11 17:22:55 +10:00
Peter Barker 9fe7f960b1 AP_Compass: remove dead sensor detect code 
these boards specify their internal devices so don't cross these paths
 2025-06-10 16:28:17 +10:00
muramura 012e727dfc AP_Compass: Specify the names of the supported devices 2025-06-07 10:46:51 +10:00
Peter Barker 3b09612552 AP_Compass: remove unnueccesary HAL_BUILD_AP_PERIPH check 2025-05-13 18:48:05 +01:00
Peter Barker 6298f7dc58 AP_Compass: make compass LearnType enum-class and parameter AP_Enum 2025-01-29 19:21:59 +11:00
Peter Barker 9e4a180878 AP_Compass: remove vestiges of LearnType::LEARN_INTERNAL 
57a3bc1397 changed the code from "internal" to "in-flight

It seems the old value of "1" was no longer valid

It also changed things to that the learning system saved the offsets.
 2025-01-28 12:23:53 +11:00
Jacob Dahl 64bb0ad762 AP_Compass: add IIS2MDC driver 2025-01-15 19:10:16 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 6a59d3adae AP_Compass: Also mark Z axis as calibrations, just like the XY 2024-11-05 09:25:59 +09:00
muramura 0020cf5fe8 AP_Compass: Add existing devices 2024-09-22 10:11:50 +10:00
cuav-chen2 89a4571c58 AP_Compass: Add in BMM350 Driver 2024-09-21 10:08:36 +10:00
Peter Barker 42b8ee78cf AP_Compass: remove use of AP_AHRS from most headers 
don't need to know the details, just that it is a class
 2024-09-03 10:35:54 +10:00
Peter Barkerandmuramura fa4e90a3bb AP_Compass: use GCS_SEND_TEXT rather than gcs().send_text 
Co-authored-by: muramura <ma2maru@gmail.com>
 2024-08-07 18:33:16 +10:00