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Merged
qqqlab merged 1 commit into from
Jul 22, 2025
Merged

Add mag_align #74

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1 change: 1 addition & 0 deletions examples/00.HelloWorld/madflight_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,7 @@ const char madflight_config[] = R""(

//--- MAG --- Magnetometer
//mag_gizmo NONE // options: NONE, QMC5883, QMC6309, RM3100
//mag_align CW0 // options: CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
//mag_i2c_adr 0
//mag_i2c_bus -1

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1 change: 1 addition & 0 deletions examples/01.Quadcopter/madflight_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,7 @@ const char madflight_config[] = R""(

//--- MAG --- Magnetometer
//mag_gizmo NONE // options: NONE, QMC5883, QMC6309, RM3100
//mag_align CW0 // options: CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
//mag_i2c_adr 0
//mag_i2c_bus -1

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1 change: 1 addition & 0 deletions examples/02.QuadcopterAdvanced/madflight_config.h
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Expand Up @@ -61,6 +61,7 @@ const char madflight_config[] = R""(

//--- MAG --- Magnetometer
//mag_gizmo NONE // options: NONE, QMC5883, QMC6309, RM3100
//mag_align CW0 // options: CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
//mag_i2c_adr 0
//mag_i2c_bus -1

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1 change: 1 addition & 0 deletions examples/03.Plane/madflight_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,7 @@ const char madflight_config[] = R""(

//--- MAG --- Magnetometer
//mag_gizmo NONE // options: NONE, QMC5883, QMC6309, RM3100
//mag_align CW0 // options: CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
//mag_i2c_adr 0
//mag_i2c_bus -1

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3 changes: 3 additions & 0 deletions src/cfg/cfg.h
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Expand Up @@ -237,6 +237,9 @@ SOFTWARE.
MF_PARAM( pin_rdr_trig, -1, int32_t, 'p') \
MF_PARAM( pin_rdr_echo, -1, int32_t, 'p') \
MF_PARAM( imu_bus_type, 0, int32_t, 'e', mf_SPI,mf_I2C) \
\
/*v2.1.1 additions */ \
MF_PARAM( mag_align, 0, int32_t, 'e', mf_CW0,mf_CW90,mf_CW180,mf_CW270,mf_CW0FLIP,mf_CW90FLIP,mf_CW180FLIP,mf_CW270FLIP) \
//end MF_PARAM_LIST


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28 changes: 28 additions & 0 deletions src/mag/mag.cpp
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Expand Up @@ -81,6 +81,34 @@ bool Mag::update() {
if(!schedule.interval(_samplePeriod)) return false;

if(!gizmo->update(&x, &y, &z)) return false;

//handle rotation for different mounting positions
switch((Cfg::mag_align_enum)cfg.mag_align) {
case Cfg::mag_align_enum::mf_CW0 :
break;
case Cfg::mag_align_enum::mf_CW90 :
{ float tmp; tmp=x; x=-y; y=tmp; }
break;
case Cfg::mag_align_enum::mf_CW180 :
{ x=-x; y=-y; }
break;
case Cfg::mag_align_enum::mf_CW270 :
{ float tmp; tmp=x; x=y; y=-tmp; }
break;
case Cfg::mag_align_enum::mf_CW0FLIP :
{ y=-y; z=-z; }
break;
case Cfg::mag_align_enum::mf_CW90FLIP :
{ float tmp; tmp=x; x=y; y=tmp; z=-z; }
break;
case Cfg::mag_align_enum::mf_CW180FLIP :
{ x=-x; z=-z; }
break;
case Cfg::mag_align_enum::mf_CW270FLIP :
{ float tmp; tmp=x; x=-y; y=-tmp; z=-z; }
break;
}

ts = micros();
return true;
}