From 17290836ef34f1b1e7bf263c248255b7f4cad45e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 28 Mar 2012 22:40:32 +1100 Subject: [PATCH] Compass: added some more comments explain the algorithm a bit more --- libraries/AP_Compass/Compass.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/libraries/AP_Compass/Compass.cpp b/libraries/AP_Compass/Compass.cpp index 4f485b2705..a0a294a65f 100644 --- a/libraries/AP_Compass/Compass.cpp +++ b/libraries/AP_Compass/Compass.cpp @@ -250,7 +250,12 @@ Compass::null_offsets(void) length = diff.length(); if (length < min_diff) { // the mag vector hasn't changed enough - we don't get - // enough information from this vector to use it + // enough information from this vector to use it. + // Note that we don't put the current vector into the mag + // history here. We want to wait for a larger rotation to + // build up before calculating an offset change, as accuracy + // of the offset change is highly dependent on the size of the + // rotation. _mag_history_index = (_mag_history_index + 1) % _mag_history_size; return; }