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Code Issues Releases Activity

Mag bias tracking seems to work

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This commit is contained in:
James Cotton 2012-07-25 11:19:39 -05:00
parent 1a5af9dafb
commit 3b57b492d0
1 changed files with 2 additions and 1 deletions
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3
flight/Modules/Sensors/sensors.c
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@ -401,7 +401,7 @@ static void SensorsTask(void *parameters)
}
// Correct for mag bias and update
//magOffsetEstimation(&mag);
magOffsetEstimation(&mag);
MagnetometerSet(&mag);
mag_update_time = PIOS_DELAY_GetRaw();
}
@ -457,6 +457,7 @@ static void magOffsetEstimation(MagnetometerData *mag)
magBias.x += b_error[0];
magBias.y += b_error[1];
magBias.z += b_error[2];
MagBiasSet(&magBias);
}