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Code Issues Releases Activity

Add a magnetometer bias term although currently hardcoded to my board

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This commit is contained in:
James Cotton 2011-12-15 00:57:19 -06:00
parent 0432dd450e
commit dd89d232ba
1 changed files with 5 additions and 3 deletions
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8
flight/Modules/Sensors/sensors.c
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@ -82,6 +82,8 @@ static bool zero_during_arming = false;
static bool bias_correct_gyro = true;
static float gyro_bias[3] = {0,0,0};
float mag_bias[3] = {-140.0f,150.0f,0};
/**
* API for sensor fusion algorithms:
* Configure(xQueueHandle gyro, xQueueHandle accel, xQueueHandle mag, xQueueHandle baro)
@ -250,9 +252,9 @@ static void SensorsTask(void *parameters)
int16_t values[3];
PIOS_HMC5883_ReadMag(values);
MagnetometerData mag; // Skip get as we set all the fields
mag.x = values[1];
mag.y = values[0];
mag.z = -values[2];
mag.x = values[1] - mag_bias[0];
mag.y = values[0] - mag_bias[1];
mag.z = -values[2] - mag_bias[2];
MagnetometerSet(&mag);
}