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Compass improvements/refactoring (#10166)

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* Infinite calibration loop fix

* Save calibration

* Screen refresh

* reduce repeated code

* reduce repeated code to reduce flash

* fix Waypoint compass size and no fix no heading labels

* Don't show compass unless we have a heading and location

* If no calculated heading from moving, we should have no heading

* Slow walking calculated heading and auto stale heading when not moving

* Triming flash space

* cleanup

* show "?" when no location or heading for distance and heading screen

* cleanup

* Stale heading logic

* final trim

* Compass Calibration screen redesign

* Trunk Fix

* Compile fix

* patch

* Update src/motion/MotionSensor.cpp

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* Update WaypointModule.cpp

---------

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
This commit is contained in:
HarukiToreda
2026-04-18 06:53:22 -05:00
committed by GitHub
co-authored by GitHub Copilot
parent 6208c243f9
commit aab4cd086f
15 changed files with 721 additions and 399 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/motion/BMX160Sensor.cpp
+8 -60
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@@ -16,6 +16,7 @@ bool BMX160Sensor::init()
if (sensor.begin()) {
// set output data rate
sensor.ODR_Config(BMX160_ACCEL_ODR_100HZ, BMX160_GYRO_ODR_100HZ);
loadMagnetometerCalibration(compassCalibrationFileName, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
LOG_DEBUG("BMX160 init ok");
return true;
}
@@ -33,42 +34,12 @@ int32_t BMX160Sensor::runOnce()
sensor.getAllData(&magAccel, NULL, &gAccel);
if (doCalibration) {
if (!showingScreen) {
powerFSM.trigger(EVENT_PRESS); // keep screen alive during calibration
showingScreen = true;
if (screen)
screen->startAlert((FrameCallback)drawFrameCalibration);
}
if (magAccel.x > highestX)
highestX = magAccel.x;
if (magAccel.x < lowestX)
lowestX = magAccel.x;
if (magAccel.y > highestY)
highestY = magAccel.y;
if (magAccel.y < lowestY)
lowestY = magAccel.y;
if (magAccel.z > highestZ)
highestZ = magAccel.z;
if (magAccel.z < lowestZ)
lowestZ = magAccel.z;
uint32_t now = millis();
if (now > endCalibrationAt) {
doCalibration = false;
endCalibrationAt = 0;
showingScreen = false;
if (screen)
screen->endAlert();
}
// LOG_DEBUG("BMX160 min_x: %.4f, max_X: %.4f, min_Y: %.4f, max_Y: %.4f, min_Z: %.4f, max_Z: %.4f", lowestX, highestX,
// lowestY, highestY, lowestZ, highestZ);
beginCalibrationDisplay(showingScreen);
updateCalibrationExtrema(magAccel.x, magAccel.y, magAccel.z, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
finishCalibrationIfExpired(showingScreen, compassCalibrationFileName, highestX, lowestX, highestY, lowestY, highestZ,
lowestZ);
}
int highestRealX = highestX - (highestX + lowestX) / 2;
magAccel.x -= (highestX + lowestX) / 2;
magAccel.y -= (highestY + lowestY) / 2;
magAccel.z -= (highestZ + lowestZ) / 2;
@@ -88,23 +59,7 @@ int32_t BMX160Sensor::runOnce()
float heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma);
switch (config.display.compass_orientation) {
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0_INVERTED:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0:
break;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED:
heading += 90;
break;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED:
heading += 180;
break;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED:
heading += 270;
break;
}
heading = applyCompassOrientation(heading);
if (screen)
screen->setHeading(heading);
#endif
@@ -119,15 +74,8 @@ void BMX160Sensor::calibrate(uint16_t forSeconds)
sBmx160SensorData_t gAccel;
LOG_DEBUG("BMX160 calibration started for %is", forSeconds);
sensor.getAllData(&magAccel, NULL, &gAccel);
highestX = magAccel.x, lowestX = magAccel.x;
highestY = magAccel.y, lowestY = magAccel.y;
highestZ = magAccel.z, lowestZ = magAccel.z;
doCalibration = true;
uint16_t calibrateFor = forSeconds * 1000; // calibrate for seconds provided
endCalibrationAt = millis() + calibrateFor;
if (screen)
screen->setEndCalibration(endCalibrationAt);
seedCalibrationExtrema(magAccel.x, magAccel.y, magAccel.z, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
startCalibrationWindow(forSeconds);
#endif
}