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Add mag bias estimator to CAN GPS units with IMUs

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- run `sensors` hub to process sensor_mag and publish vehicle_magnetometer
 - update uavcannode to use vehicle_magnetometer
This commit is contained in:
alexklimaj
2022-06-17 18:36:55 -06:00
committed by Daniel Agar
parent 73f45fee6e
commit 4cc3e78558
12 changed files with 87 additions and 12 deletions
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9
boards/matek/gnss-m9n-f4/default.px4board
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@@ -1,6 +1,8 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m4"
CONFIG_BOARD_ROMFSROOT="cannode"
CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_BOARD_NO_HELP=y
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -10,13 +12,20 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
CONFIG_SYSTEMCMDS_I2CDETECT=y
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
CONFIG_SERIAL_PASSTHRU_UBLOX=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_UORB=y