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AP_Compass: fixed raw_field init in AK8963 driver

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thanks to Peter for spotting this
This commit is contained in:
Andrew Tridgell 2015-09-03 21:26:54 +10:00
parent 5710697847
commit 079161ef3a
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -240,7 +240,7 @@ void AP_Compass_AK8963::_update()
struct AP_AK8963_SerialBus::raw_value rv;
float mag_x, mag_y, mag_z;
// get raw_field - sensor frame, uncorrected
Vector3f raw_field = Vector3f(mag_x, mag_y, mag_z);
Vector3f raw_field;
uint32_t time_us = hal.scheduler->micros();
@ -268,6 +268,8 @@ void AP_Compass_AK8963::_update()
goto fail;
}
raw_field = Vector3f(mag_x, mag_y, mag_z);
// rotate raw_field from sensor frame to body frame
rotate_field(raw_field, _compass_instance);