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Code Issues Releases Activity

Ground/AHRSCalibration: Make mag's calibrate properly

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1900 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-06 14:26:44 +00:00 committed by peabody124
parent dea5c91646
commit ecf4e74a71
1 changed files with 13 additions and 2 deletions
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15
ground/src/plugins/config/configahrswidget.cpp
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@ -529,7 +529,7 @@ void ConfigAHRSWidget::computeScaleBias()
field->setDouble(sign(S[1]) * b[1],1);
field->setDouble(-sign(S[2]) * b[2],2);
SixPointInConstFieldCal( 1, mag_data_x, mag_data_y, mag_data_z, S, b);
SixPointInConstFieldCal( 1000, mag_data_x, mag_data_y, mag_data_z, S, b);
field = obj->getField(QString("mag_scale"));
field->setDouble(sign(S[0]) * S[0],0);
field->setDouble(sign(S[1]) * S[1],1);
@ -586,6 +586,17 @@ void ConfigAHRSWidget::sixPointCalibrationMode()
field->setDouble(0,0);
field->setDouble(0,1);
field->setDouble(0,2);
field = obj->getField(QString("mag_scale"));
field->setDouble(1,0);
field->setDouble(1,1);
field->setDouble(1,2);
field = obj->getField(QString("mag_bias"));
field->setDouble(0,0);
field->setDouble(0,1);
field->setDouble(0,2);
obj->updated();
gyro_accum_x.clear();
@ -597,7 +608,7 @@ void ConfigAHRSWidget::sixPointCalibrationMode()
initialMdata = obj->getMetadata();
UAVObject::Metadata mdata = initialMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = 20;
mdata.flightTelemetryUpdatePeriod = 50;
obj->setMetadata(mdata);
/* Show instructions and enable controls */