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Compass: added a gain multiplier 

this adjusts the calibration based on the change in gain between
calibration and runtime

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3090 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com 2011-08-13 10:39:11 +00:00
parent 37dd9ac144
commit 0bf026e6ad
1 changed files with 5 additions and 3 deletions
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8
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -150,6 +150,7 @@ AP_Compass_HMC5843::init()
byte calibration_gain = 0x20;
uint16_t expected_x = 715;
uint16_t expected_yz = 715;
float gain_multiple = 1.0;
delay(10);
@ -166,6 +167,7 @@ AP_Compass_HMC5843::init()
calibration_gain = 0x60;
expected_x = 766;
expected_yz = 713;
gain_multiple = 660.0 / 1090; // adjustment for runtime vs calibration gain
if (old_product_id != product_id) {
/* now we know the compass type we need to rotate the
@ -239,9 +241,9 @@ AP_Compass_HMC5843::init()
}
if (good_count >= 5) {
calibration[0] /= good_count;
calibration[1] /= good_count;
calibration[2] /= good_count;
calibration[0] = calibration[0] * gain_multiple / good_count;
calibration[1] = calibration[1] * gain_multiple / good_count;
calibration[2] = calibration[2] * gain_multiple / good_count;
success = true;
} else {
/* best guess */