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AHRS: This fixes the mags, I forgot to normalize the magnetic flux at your

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home location.  If you use INSGPS_INDOORS make sure your HomeLocation.Be fields
are correct for your GPS coordinates
http://maps.alfiordalis.com/declination.html

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1862 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-03 20:35:22 +00:00 committed by peabody124
parent 11d197b3fc
commit e743678d89
1 changed files with 7 additions and 5 deletions
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12
flight/AHRS/ahrs.c
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@ -397,10 +397,8 @@ for all data to be up to date before doing anything*/
vel[1] = 0;
vel[2] = 0;
if(/*(mag_data.updated == 1) &&*/ (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
// MagVelBaroCorrection(mag,vel,altitude_data.altitude); // only trust mags if outdoors
VelBaroCorrection(vel, altitude_data.altitude);
MagCorrection(mag);
if((mag_data.updated == 1) && (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
MagVelBaroCorrection(mag,vel,altitude_data.altitude); // only trust mags if outdoors
mag_data.updated = 0;
} else {
VelBaroCorrection(vel, altitude_data.altitude);
@ -856,7 +854,11 @@ void homelocation_callback(AhrsObjHandle obj)
{
HomeLocationData data;
HomeLocationGet(&data);
INSSetMagNorth(data.Be);
float Bmag = sqrt(pow(data.Be[0],2) + pow(data.Be[1],2) + pow(data.Be[2],2));
float Be[3] = {data.Be[0] / Bmag, data.Be[1] / Bmag, data.Be[2] / Bmag};
INSSetMagNorth(Be);
}