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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 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/ICM20948Sensor.cpp
+17 -71
View File
@@ -26,7 +26,11 @@ bool ICM20948Sensor::init()
return false;
// Enable simple Wake on Motion
return sensor->setWakeOnMotion();
bool wakeOnMotionOk = sensor->setWakeOnMotion();
if (wakeOnMotionOk) {
loadMagnetometerCalibration(compassCalibrationFileName, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
}
return wakeOnMotionOk;
}
#ifdef ICM_20948_INT_PIN
@@ -47,7 +51,8 @@ int32_t ICM20948Sensor::runOnce()
int32_t ICM20948Sensor::runOnce()
{
#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
if (screen && !screen->isScreenOn() && !config.display.wake_on_tap_or_motion && !config.device.double_tap_as_button_press) {
if (screen && !doCalibration && !screen->isScreenOn() && !config.display.wake_on_tap_or_motion &&
!config.device.double_tap_as_button_press) {
if (!isAsleep) {
LOG_DEBUG("sleeping IMU");
sensor->sleep(true);
@@ -69,38 +74,10 @@ int32_t ICM20948Sensor::runOnce()
}
if (doCalibration) {
if (!showingScreen) {
powerFSM.trigger(EVENT_PRESS); // keep screen alive during calibration
showingScreen = true;
if (screen)
screen->startAlert((FrameCallback)drawFrameCalibration);
}
if (magX > highestX)
highestX = magX;
if (magX < lowestX)
lowestX = magX;
if (magY > highestY)
highestY = magY;
if (magY < lowestY)
lowestY = magY;
if (magZ > highestZ)
highestZ = magZ;
if (magZ < lowestZ)
lowestZ = magZ;
uint32_t now = millis();
if (now > endCalibrationAt) {
doCalibration = false;
endCalibrationAt = 0;
showingScreen = false;
if (screen)
screen->endAlert();
}
// LOG_DEBUG("ICM20948 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(magX, magY, magZ, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
finishCalibrationIfExpired(showingScreen, compassCalibrationFileName, highestX, lowestX, highestY, lowestY, highestZ,
lowestZ);
}
magX -= (highestX + lowestX) / 2;
@@ -122,23 +99,7 @@ int32_t ICM20948Sensor::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
@@ -169,26 +130,16 @@ int32_t ICM20948Sensor::runOnce()
void ICM20948Sensor::calibrate(uint16_t forSeconds)
{
#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
LOG_DEBUG("Old calibration data: highestX = %f, lowestX = %f, highestY = %f, lowestY = %f, highestZ = %f, lowestZ = %f",
highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
LOG_DEBUG("BMX160 calibration started for %is", forSeconds);
LOG_DEBUG("ICM20948 cal start %is", forSeconds);
if (sensor->dataReady()) {
sensor->getAGMT();
highestX = sensor->agmt.mag.axes.x;
lowestX = sensor->agmt.mag.axes.x;
highestY = sensor->agmt.mag.axes.y;
lowestY = sensor->agmt.mag.axes.y;
highestZ = sensor->agmt.mag.axes.z;
lowestZ = sensor->agmt.mag.axes.z;
seedCalibrationExtrema(sensor->agmt.mag.axes.x, sensor->agmt.mag.axes.y, sensor->agmt.mag.axes.z, highestX, lowestX,
highestY, lowestY, highestZ, lowestZ);
} else {
highestX = 0, lowestX = 0, highestY = 0, lowestY = 0, highestZ = 0, lowestZ = 0;
seedCalibrationExtrema(0.0f, 0.0f, 0.0f, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
}
doCalibration = true;
uint16_t calibrateFor = forSeconds * 1000; // calibrate for seconds provided
endCalibrationAt = millis() + calibrateFor;
if (screen)
screen->setEndCalibration(endCalibrationAt);
startCalibrationWindow(forSeconds);
#endif
}
// ----------------------------------------------------------------------
@@ -314,11 +265,6 @@ bool ICM20948Singleton::setWakeOnMotion()
status = intEnableWOM(true);
LOG_DEBUG("ICM20948 init set intEnableWOM - %s", statusString());
return status == ICM_20948_Stat_Ok;
// Clear any current interrupts
ICM20948_IRQ = false;
clearInterrupts();
return true;
}
#endif