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Code Issues Releases Activity

AHRS: Tweak setting when mag is used to allow greater error in vector length

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and start using from power up

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2158 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-11-26 15:57:12 +00:00 committed by peabody124
parent e3d2645dea
commit 6a33043297
1 changed files with 2 additions and 3 deletions
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5
flight/AHRS/ahrs.c
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@ -44,7 +44,7 @@
#define INSGPS_GPS_MINSAT 6 /* 2 seconds triggers reinit of position */
#define INSGPS_GPS_MINPDOP 3.5 /* minimum PDOP for postition updates */
#define INSGPS_MAGLEN 1000
#define INSGPS_MAGTOL 0.2 /* error in magnetic vector length to use */
#define INSGPS_MAGTOL 0.5 /* error in magnetic vector length to use */
// For debugging the raw sensors
//#define DUMP_RAW
@ -668,8 +668,7 @@ void process_mag_data()
HomeLocationGet(&home);
if (PIOS_HMC5843_NewDataAvailable() &&
(home.Set == HOMELOCATION_SET_TRUE) &&
((home.Be[0] != 0) || (home.Be[1] != 0) || (home.Be[2] != 0)) &&
((float) timer_count() / timer_rate() > 5)) {
((home.Be[0] != 0) || (home.Be[1] != 0) || (home.Be[2] != 0))) {
PIOS_HMC5843_ReadMag(mag_data.raw.axis);
// Swap the axis here to acount for orientation of mag chip (notice 0 and 1 swapped in raw)
mag_data.scaled.axis[0] = (mag_data.raw.axis[1] * mag_data.calibration.scale[0]) + mag_data.calibration.bias[0];