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Code Issues Releases Activity

AHRS: Small bug in the conditions for using the mag

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2157 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124 2010-11-26 15:57:10 +00:00 committed by peabody124
parent ebcb272da6
commit e3d2645dea
1 changed files with 1 additions and 1 deletions
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2
flight/AHRS/ahrs.c
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@ -667,7 +667,7 @@ void process_mag_data()
HomeLocationData home; HomeLocationData home;
HomeLocationGet(&home); HomeLocationGet(&home);
if (PIOS_HMC5843_NewDataAvailable() && if (PIOS_HMC5843_NewDataAvailable() &&
(home.Set = HOMELOCATION_SET_TRUE) && (home.Set == HOMELOCATION_SET_TRUE) &&
((home.Be[0] != 0) || (home.Be[1] != 0) || (home.Be[2] != 0)) && ((home.Be[0] != 0) || (home.Be[1] != 0) || (home.Be[2] != 0)) &&
((float) timer_count() / timer_rate() > 5)) { ((float) timer_count() / timer_rate() > 5)) {
PIOS_HMC5843_ReadMag(mag_data.raw.axis); PIOS_HMC5843_ReadMag(mag_data.raw.axis);