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Mesh node t1 fixes (#10602)

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* Fixes

* Remove BATTERY_LPCOMP_THRESHOLD

BATTERY_LPCOMP_THRESHOLD is dead code — in main-nrf52.cpp it's inside #ifdef BATTERY_LPCOMP_INPUT, which this board intentionally doesn't define. The threshold value is never reached.

* Trunk fix

* Update MotionSensor.cpp

* fix

---------

Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
Co-authored-by: Jonathan Bennett <jbennett@incomsystems.biz>
This commit is contained in:
HarukiToreda
2026-06-13 19:57:28 -05:00
committed by GitHub
co-authored by GitHub Ben Meadors Jonathan Bennett
parent b938b63e8a
commit 745b53698a
8 changed files with 181 additions and 99 deletions
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src/motion/MMC5983MASensor.cpp
+45 -13
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@@ -2,6 +2,7 @@
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<SparkFun_MMC5983MA_Arduino_Library.h>)
#include "Fusion/Fusion.h"
#include "detect/ScanI2CTwoWire.h"
#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
@@ -10,8 +11,11 @@ extern graphics::Screen *screen;
static constexpr float MMC5983MA_ZERO_FIELD = 131072.0f;
static constexpr float MMC5983MA_COUNTS_PER_GAUSS = 16384.0f;
static constexpr uint16_t MMC5983MA_CONTINUOUS_FREQUENCY_HZ = 10;
static constexpr uint16_t MMC5983MA_CONTINUOUS_FREQUENCY_HZ = 50;
static constexpr int32_t MMC5983MA_UPDATE_INTERVAL_MS = 20;
static constexpr float MMC5983MA_HEADING_OFFSET_DEG = 180.0f;
static constexpr uint32_t MMC5983MA_ACCEL_STALE_MS = 300;
static constexpr float MMC5983MA_MIN_AXIS_RADIUS = 1e-4f;
MMC5983MASensor::MMC5983MASensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
@@ -62,7 +66,7 @@ int32_t MMC5983MASensor::runOnce()
{
float magX = 0, magY = 0, magZ = 0;
if (!readMagnetometer(magX, magY, magZ)) {
return MOTION_SENSOR_CHECK_INTERVAL_MS;
return MMC5983MA_UPDATE_INTERVAL_MS;
}
#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
@@ -74,25 +78,53 @@ int32_t MMC5983MASensor::runOnce()
}
#endif
magX -= (highestX + lowestX) / 2;
magY -= (highestY + lowestY) / 2;
magZ -= (highestZ + lowestZ) / 2;
// Hard-iron bias removal.
magX -= (highestX + lowestX) * 0.5f;
magY -= (highestY + lowestY) * 0.5f;
magZ -= (highestZ + lowestZ) * 0.5f;
// Soft-iron diagonal scaling from calibration extrema.
const float radiusX = (highestX - lowestX) * 0.5f;
const float radiusY = (highestY - lowestY) * 0.5f;
const float radiusZ = (highestZ - lowestZ) * 0.5f;
const float avgRadius = (radiusX + radiusY + radiusZ) / 3.0f;
magX *= (radiusX > MMC5983MA_MIN_AXIS_RADIUS) ? (avgRadius / radiusX) : 1.0f;
magY *= (radiusY > MMC5983MA_MIN_AXIS_RADIUS) ? (avgRadius / radiusY) : 1.0f;
magZ *= (radiusZ > MMC5983MA_MIN_AXIS_RADIUS) ? (avgRadius / radiusZ) : 1.0f;
#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
float heading = atan2f(magY, magX) * RAD_TO_DEG + MMC5983MA_HEADING_OFFSET_DEG;
if (heading < 0.0f) {
heading += 360.0f;
} else if (heading >= 360.0f) {
heading -= 360.0f;
float heading;
float accelX = 0.0f;
float accelY = 0.0f;
float accelZ = 0.0f;
uint32_t accelAgeMs = 0;
if (getLatestCompassAccelSample(accelX, accelY, accelZ, accelAgeMs) && accelAgeMs <= MMC5983MA_ACCEL_STALE_MS) {
FusionVector ga = {.axis = {accelX, accelY, accelZ}};
FusionVector ma = {.axis = {magX, magY, magZ}};
if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) {
ma = FusionAxesSwap(ma, FusionAxesAlignmentNXNYPZ);
ga = FusionAxesSwap(ga, FusionAxesAlignmentNXNYPZ);
}
heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma) + MMC5983MA_HEADING_OFFSET_DEG;
} else {
heading = atan2f(magY, magX) * RAD_TO_DEG + MMC5983MA_HEADING_OFFSET_DEG;
}
if (heading >= 360.0f)
heading -= 360.0f;
else if (heading < 0.0f)
heading += 360.0f;
heading = 360.0f - heading;
if (heading >= 360.0f)
heading -= 360.0f;
heading = applyCompassOrientation(heading);
if (screen) {
if (screen)
screen->setHeading(heading);
}
#endif
return MOTION_SENSOR_CHECK_INTERVAL_MS;
return MMC5983MA_UPDATE_INTERVAL_MS;
}
void MMC5983MASensor::calibrate(uint16_t forSeconds)