Merge pull request #6928 from iNavFlight/dzikuvx-rework-default-mag-a…

…lignment Make CW270FLIP default MAG alignment
iNavFlight · May 7, 2021 · e1b4a0f · e1b4a0f
2 parents 21fc620 + 3cd2578
commit e1b4a0f
Show file tree

Hide file tree

Showing 44 changed files with 205 additions and 89 deletions.
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
@@ -301,6 +301,12 @@ void validateAndFixConfig(void)
     // Call target-specific validation function
     validateAndFixTargetConfig();
 
+#ifdef USE_MAG
+    if (compassConfig()->mag_align == ALIGN_DEFAULT) {
+        compassConfigMutable()->mag_align = CW270_DEG_FLIP;
+    }
+#endif
+
     if (settingsValidate(NULL)) {
         DISABLE_ARMING_FLAG(ARMING_DISABLED_INVALID_SETTING);
     } else {

diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
@@ -95,9 +95,6 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
     case MAG_QMC5883:
 #ifdef USE_MAG_QMC5883
         if (qmc5883Detect(dev)) {
-#ifdef MAG_QMC5883_ALIGN
-            dev->magAlign.onBoard = MAG_QMC5883_ALIGN;
-#endif
             magHardware = MAG_QMC5883;
             break;
         }
@@ -111,9 +108,6 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
     case MAG_HMC5883:
 #ifdef USE_MAG_HMC5883
         if (hmc5883lDetect(dev)) {
-#ifdef MAG_HMC5883_ALIGN
-            dev->magAlign.onBoard = MAG_HMC5883_ALIGN;
-#endif
             magHardware = MAG_HMC5883;
             break;
         }
@@ -127,9 +121,6 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
     case MAG_AK8975:
 #ifdef USE_MAG_AK8975
         if (ak8975Detect(dev)) {
-#ifdef MAG_AK8975_ALIGN
-            dev->magAlign.onBoard = MAG_AK8975_ALIGN;
-#endif
             magHardware = MAG_AK8975;
             break;
         }
@@ -143,9 +134,6 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
     case MAG_AK8963:
 #ifdef USE_MAG_AK8963
         if (ak8963Detect(dev)) {
-#ifdef MAG_AK8963_ALIGN
-            dev->magAlign.onBoard = MAG_AK8963_ALIGN;
-#endif
             magHardware = MAG_AK8963;
             break;
         }
@@ -159,9 +147,6 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
     case MAG_GPS:
 #ifdef USE_GPS
         if (gpsMagDetect(dev)) {
-#ifdef MAG_GPS_ALIGN
-            dev->magAlign.onBoard = MAG_GPS_ALIGN;
-#endif
             magHardware = MAG_GPS;
             break;
         }
@@ -175,9 +160,6 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
     case MAG_MAG3110:
 #ifdef USE_MAG_MAG3110
         if (mag3110detect(dev)) {
-#ifdef MAG_MAG3110_ALIGN
-            dev->magAlign.onBoard = MAG_MAG3110_ALIGN;
-#endif
             magHardware = MAG_MAG3110;
             break;
         }
@@ -191,9 +173,6 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
     case MAG_IST8310:
 #ifdef USE_MAG_IST8310
         if (ist8310Detect(dev)) {
-#ifdef MAG_IST8310_ALIGN
-            dev->magAlign.onBoard = MAG_IST8310_ALIGN;
-#endif
             magHardware = MAG_IST8310;
             break;
         }
@@ -207,9 +186,6 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
     case MAG_IST8308:
 #ifdef USE_MAG_IST8308
         if (ist8308Detect(dev)) {
-#ifdef MAG_IST8308_ALIGN
-            dev->magAlign.onBoard = MAG_IST8308_ALIGN;
-#endif
             magHardware = MAG_IST8308;
             break;
         }
@@ -223,9 +199,6 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
     case MAG_MPU9250:
 #ifdef USE_MAG_MPU9250
         if (mpu9250CompassDetect(dev)) {
-#ifdef MAG_MPU9250_ALIGN
-            dev->magAlign.onBoard = MAG_MPU9250_ALIGN;
-#endif
             magHardware = MAG_MPU9250;
             break;
         }
@@ -235,9 +208,6 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
     case MAG_LIS3MDL:
 #ifdef USE_MAG_LIS3MDL
         if (lis3mdlDetect(dev)) {
-#ifdef MAG_LIS3MDL_ALIGN
-            dev->magAlign = MAG_LIS3MDL_ALIGN;
-#endif
             magHardware = MAG_LIS3MDL;
             break;
         }
@@ -266,9 +236,6 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
     case MAG_RM3100:
 #ifdef USE_MAG_RM3100
         if (rm3100MagDetect(dev)) {
-#ifdef MAG_RM3100_ALIGN
-            dev->magAlign.onBoard = MAG_RM3100_ALIGN;
-#endif
             magHardware = MAG_RM3100;
             break;
         }
@@ -344,6 +311,8 @@ bool compassInit(void)
         mag.dev.magAlign.useExternal = false;
         if (compassConfig()->mag_align != ALIGN_DEFAULT) {
             mag.dev.magAlign.onBoard = compassConfig()->mag_align;
+        } else {
+            mag.dev.magAlign.onBoard = CW270_DEG_FLIP;  // The most popular default is 270FLIP for external mags
         }
     }
 

diff --git a/src/main/target/AIRBOTF4/target.h b/src/main/target/AIRBOTF4/target.h
@@ -46,7 +46,6 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define MAG_HMC5883_ALIGN       CW90_DEG
 #define USE_MAG_HMC5883
 #define USE_MAG_AK8963
 #define USE_MAG_AK8975
@@ -128,8 +127,6 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 
-#define MAG_GPS_ALIGN           CW180_DEG_FLIP
-
 #define DEFAULT_RX_TYPE         RX_TYPE_PPM
 #define DISABLE_RX_PWM_FEATURE
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_VBAT)

diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
@@ -60,7 +60,6 @@
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
 #define USE_MAG_MPU9250
-#define MAG_MPU9250_ALIGN       CW0_DEG
 #define USE_MAG_AK8963
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883

diff --git a/src/main/target/ALIENFLIGHTF4/config.c b/src/main/target/ALIENFLIGHTF4/config.c
@@ -45,6 +45,7 @@
 
 #include "sensors/battery.h"
 #include "sensors/sensors.h"
+#include "sensors/compass.h"
 
 #include "telemetry/telemetry.h"
 
@@ -56,6 +57,8 @@
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(void)
 {
+    compassConfigMutable()->mag_align = CW90_DEG;
+
     serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
     batteryMetersConfigMutable()->current.offset = CURRENTOFFSET;
     batteryMetersConfigMutable()->current.scale = CURRENTSCALE;

diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
@@ -61,8 +61,6 @@
 #define USE_MAG_IST8308
 #define USE_MAG_LIS3MDL
 
-#define MAG_MPU9250_ALIGN       CW0_DEG
-
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define BNO055_I2C_BUS          BUS_I2C1
 

diff --git a/src/main/target/ALIENFLIGHTNGF7/config.c b/src/main/target/ALIENFLIGHTNGF7/config.c
@@ -47,6 +47,7 @@
 #include "config/feature.h"
 
 #include "sensors/battery.h"
+#include "sensors/compass.h"
 
 #include "hardware_revision.h"
 
@@ -58,6 +59,8 @@
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(void)
 {
+    compassConfigMutable()->mag_align = CW90_DEG;
+
     serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
     batteryMetersConfigMutable()->current.offset = CURRENTOFFSET;
     batteryMetersConfigMutable()->current.scale = CURRENTSCALE;

diff --git a/src/main/target/ALIENFLIGHTNGF7/target.h b/src/main/target/ALIENFLIGHTNGF7/target.h
@@ -59,9 +59,6 @@
 #define USE_MAG_IST8308
 #define USE_MAG_LIS3MDL
 
-#define MAG_AK9863_ALIGN        CW0_DEG
-#define MAG_MPU9250_ALIGN       CW0_DEG
-
 #define AK8963_CS_PIN           PC15
 #define AK8963_SPI_BUS          BUS_SPI3
 

diff --git a/src/main/target/ANYFC/target.h b/src/main/target/ANYFC/target.h
@@ -47,7 +47,6 @@
 #define USE_MAG_IST8310
 #define USE_MAG_IST8308
 #define USE_MAG_LIS3MDL
-#define MAG_HMC5883_ALIGN       CW270_DEG_FLIP
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 
@@ -104,8 +103,6 @@
 
 //#define HIL
 
-#define MAG_GPS_ALIGN           CW180_DEG_FLIP
-
 #define USE_ADC
 #define ADC_CHANNEL_1_PIN               PC0
 #define ADC_CHANNEL_2_PIN               PC1

diff --git a/src/main/target/ANYFCF7/target.h b/src/main/target/ANYFCF7/target.h
@@ -40,7 +40,6 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define MAG_HMC5883_ALIGN       CW270_DEG_FLIP
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883
 #define USE_MAG_IST8310
@@ -142,8 +141,6 @@
 #define USE_I2C_DEVICE_4
 #define USE_I2C_DEVICE_2
 
-#define MAG_GPS_ALIGN           CW180_DEG_FLIP
-
 #define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
 
 #define USE_NAV

diff --git a/src/main/target/ANYFCM7/target.h b/src/main/target/ANYFCM7/target.h
@@ -40,7 +40,6 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define MAG_HMC5883_ALIGN       CW270_DEG_FLIP
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883
 #define USE_MAG_IST8310

diff --git a/src/main/target/BEEROTORF4/target.h b/src/main/target/BEEROTORF4/target.h
@@ -45,7 +45,6 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define MAG_HMC5883_ALIGN       CW90_DEG
 #define USE_MAG_HMC5883
 #define USE_MAG_AK8963
 #define USE_MAG_AK8975

diff --git a/src/main/target/BETAFLIGHTF4/target.h b/src/main/target/BETAFLIGHTF4/target.h
@@ -119,7 +119,6 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-//#define MAG_HMC5883_ALIGN       CW90_DEG
 #define USE_MAG_AK8963
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883

diff --git a/src/main/target/CHEBUZZF3/target.h b/src/main/target/CHEBUZZF3/target.h
@@ -48,7 +48,6 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define MAG_AK8975_ALIGN        CW90_DEG_FLIP
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883

diff --git a/src/main/target/CLRACINGF4AIR/config.c b/src/main/target/CLRACINGF4AIR/config.c
@@ -0,0 +1,55 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "common/axis.h"
+
+#include "drivers/sensor.h"
+#include "drivers/pwm_esc_detect.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/pwm_output.h"
+#include "drivers/serial.h"
+
+#include "fc/rc_controls.h"
+
+#include "flight/failsafe.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+
+#include "rx/rx.h"
+
+#include "io/serial.h"
+
+#include "telemetry/telemetry.h"
+
+#include "sensors/battery.h"
+#include "sensors/sensors.h"
+
+#include "config/config_master.h"
+#include "config/feature.h"
+
+#include "sensors/battery.h"
+#include "sensors/compass.h"
+
+void targetConfiguration(void)
+{
+    compassConfigMutable()->mag_align = CW90_DEG;
+}
diff --git a/src/main/target/CLRACINGF4AIR/target.h b/src/main/target/CLRACINGF4AIR/target.h
@@ -52,7 +52,6 @@
 
 #define USE_MAG
 #define USE_MAG_MPU9250
-#define MAG_MPU9250_ALIGN       CW90_DEG
 
 // MPU6 interrupts
 #define USE_EXTI

diff --git a/src/main/target/COLIBRI/config.c b/src/main/target/COLIBRI/config.c
@@ -20,18 +20,18 @@
 #include "platform.h"
 
 #include "config/feature.h"
-
 #include "fc/config.h"
-
 #include "flight/mixer.h"
-
 #include "io/serial.h"
-
 #include "rx/rx.h"
+#include "sensors/compass.h"
 
 void targetConfiguration(void)
 {
     rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
     rxConfigMutable()->receiverType = RX_TYPE_SERIAL;
     serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
+#ifdef QUANTON
+    compassConfigMutable()->mag_align = CW90_DEG;
+#endif
 }
diff --git a/src/main/target/COLIBRI/target.h b/src/main/target/COLIBRI/target.h
@@ -60,10 +60,8 @@
 
 #ifdef QUANTON
 #define IMU_MPU6000_ALIGN       CW90_DEG
-#define MAG_HMC5883_ALIGN       CW90_DEG
 #else
 #define IMU_MPU6000_ALIGN       CW270_DEG_FLIP
-#define MAG_HMC5883_ALIGN       CW270_DEG_FLIP
 #endif
 
 #define USE_BARO