AP_Common: add get_alt - 100 times better than get_alt_cm

Copter: emit system time during compassmot on SITL

the autotest framework heavily relies on system_time being emitted -
because we're not running the main loop during compassmot it gets stuck
if we don't do this

Copter: send RC_CHANNELS in SITL in compassmot loop

When setting an RC value in autotest, we require the change to appear in this message

autotest: add test for Copter compassmot

Added mag and dataflash logging support to AnyLeaf H7

Added mag and dataflash logging support to AnyLeaf H7

autotest: add test for Copter compassmot

Added mag and dataflash logging support to AnyLeaf H7

Added mag and dataflash logging support to AnyLeaf H7

ArduCopter/compassmot.cpp

@@ -228,6 +228,12 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
 #if HAL_WITH_ESC_TELEM
             // send ESC telemetry to monitor ESC and motor temperatures
             AP::esc_telem().send_esc_telemetry_mavlink(gcs_chan.get_chan());
+#endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+            // a lot of autotest timeouts are based on receiving system time
+            gcs_chan.send_system_time();
+            // autotesting of compassmot wants to see RC channels message
+            gcs_chan.send_rc_channels();
 #endif
         }
     }

Tools/autotest/arducopter.py

@@ -2055,6 +2055,67 @@ def ModeCircle(self, holdtime=36):
 
         self.do_RTL()
 
+    def CompassMot(self):
+        '''test code that adjust mag field for motor interference'''
+        self.run_cmd(
+            mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
+            0,  # p1
+            0,  # p2
+            0,  # p3
+            0,  # p4
+            0,  # p5
+            1,  # p6
+            0  # p7
+        )
+        self.context_collect("STATUSTEXT")
+        self.wait_statustext("Starting calibration", check_context=True)
+        self.wait_statustext("Current", check_context=True)
+        rc3_min = self.get_parameter('RC3_MIN')
+        rc3_max = self.get_parameter('RC3_MAX')
+        rc3_dz = self.get_parameter('RC3_DZ')
+
+        def set_rc3_for_throttle_pct(thr_pct):
+            value = int((rc3_min+rc3_dz) + (thr_pct/100.0) * (rc3_max-(rc3_min+rc3_dz)))
+            self.progress("Setting rc3 to %u" % value)
+            self.set_rc(3, value)
+
+        throttle_in_pct = 0
+        set_rc3_for_throttle_pct(throttle_in_pct)
+        self.assert_received_message_field_values("COMPASSMOT_STATUS", {
+            "interference": 0,
+            "throttle": throttle_in_pct
+        }, verbose=True, very_verbose=True)
+        tstart = self.get_sim_time()
+        delta = 5
+        while True:
+            if self.get_sim_time_cached() - tstart > 60:
+                raise NotAchievedException("did not run through entire range")
+            throttle_in_pct += delta
+            self.progress("Using throttle %f%%" % throttle_in_pct)
+            set_rc3_for_throttle_pct(throttle_in_pct)
+            self.wait_message_field_values("COMPASSMOT_STATUS", {
+                "throttle": throttle_in_pct * 10.0,
+            }, verbose=True, very_verbose=True, epsilon=1)
+            if throttle_in_pct == 0:
+                # finished counting down
+                break
+            if throttle_in_pct == 100:
+                # start counting down
+                delta = -delta
+
+        m = self.wait_message_field_values("COMPASSMOT_STATUS", {
+            "throttle": 0,
+        }, verbose=True)
+        for axis in "X", "Y", "Z":
+            fieldname = "Compensation" + axis
+            if getattr(m, fieldname) <= 0:
+                raise NotAchievedException("Expected non-zero %s" % fieldname)
+
+        # it's kind of crap - but any command-ack will stop the
+        # calibration
+        self.mav.mav.command_ack_send(0, 1)
+        self.wait_statustext("Calibration successful")
+
     def MagFail(self):
         '''test failover of compass in EKF'''
         # we want both EK2 and EK3
@@ -10944,6 +11005,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.CameraLogMessages,
             self.LoiterToGuidedHomeVSOrigin,
             self.GuidedModeThrust,
+            self.CompassMot,
         ])
         return ret
 
@@ -10975,6 +11037,7 @@ def disabled_tests(self):
             "FlyMissionTwice": "See https://github.com/ArduPilot/ardupilot/pull/18561",
             "GPSForYawCompassLearn": "Vehicle currently crashed in spectacular fashion",
             "GuidedModeThrust": "land detector raises internal error as we're not saying we're about to take off but just did",
+            "CompassMot": "Cuases an arithmetic exception in the EKF",
         }
 
 

libraries/AP_Common/Location.cpp

@@ -209,6 +209,15 @@ bool Location::get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const
     }
     return false;  // LCOV_EXCL_LINE  - not reachable
 }
+bool Location::get_alt_m(AltFrame desired_frame, float &ret_alt) const
+{
+    int32_t ret_alt_cm;
+    if (!get_alt_cm(desired_frame, ret_alt_cm)) {
+        return false;
+    }
+    ret_alt = ret_alt_cm * 0.01;
+    return true;
+}
 
 #if AP_AHRS_ENABLED
 bool Location::get_vector_xy_from_origin_NE(Vector2f &vec_ne) const

libraries/AP_Common/Location.h

@@ -42,6 +42,8 @@ class Location
     // - above-home and home is not set
     // - above-origin and origin is not set
     bool get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const WARN_IF_UNUSED;
+    // same as get_alt_cm but in metres:
+    bool get_alt_m(AltFrame desired_frame, float &ret_alt) const WARN_IF_UNUSED;
 
     // get altitude frame
     AltFrame get_alt_frame() const;

libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/hwdef.dat

@@ -111,6 +111,14 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 1
 # DPS310 integrated on I2C2 bus, multiple possible choices for external barometer
 BARO DPS310 I2C:0:0x77
 
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
 # setup for OSD
 define OSD_ENABLED 1
 define HAL_OSD_TYPE_DEFAULT 5 # MSP Displayport
+define HAL_LOGGING_DATAFLASH_ENABLED 1