Change compass I2C adress

LF_Santos · February 23, 2024, 10:38am

Hello everyone, I am trying to connect an HMC5883 compass. The sensor is connected to Bus 1, and I can detect it through the terminal with the address 0x1E. I have already enabled this model in the COMPASS_TYPEMASK, but BlueOS still cannot detect it, so I think it expects a different address (maybe 0x01 or 0x07). How can I make BlueOS recognize the sensor at the address 0x1E? Is there a configuration file where I can edit the expected address?

williangalvani · February 23, 2024, 1:48pm

That looks about right:

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Compass/AP_Compass_HMC5843.cpp#L41


      
          
          #include <AP_Math/AP_Math.h>
          #include <AP_HAL/utility/sparse-endian.h>
          #include <AP_HAL/AP_HAL.h>
          #include <AP_InertialSensor/AP_InertialSensor.h>
          #include <AP_InertialSensor/AuxiliaryBus.h>
          
          extern const AP_HAL::HAL& hal;
          
          /*
           * Default address: 0x1E
           */
          
          #define HMC5843_REG_CONFIG_A 0x00
          // Valid sample averaging for 5883L
          #define HMC5843_SAMPLE_AVERAGING_1 (0x00 << 5)
          #define HMC5843_SAMPLE_AVERAGING_2 (0x01 << 5)
          #define HMC5843_SAMPLE_AVERAGING_4 (0x02 << 5)
          #define HMC5843_SAMPLE_AVERAGING_8 (0x03 << 5)
          
          #define HMC5843_CONF_TEMP_ENABLE   (0x80)

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Change compass I2C adress

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