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AP_Compass: fixed calibration of 5883L compass

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this fixes a compass initialisation bug where if the first value from
the compass isn't in the right range we would set bad calibration
scaling factors.

This also changes the maximum acceptable calibration values to 2000,
which is needed for the 5883 compass

pair-programmed-with: Randy Mackay

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2718 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com 2011-07-02 11:31:38 +00:00
parent c78da666ec
commit 2605c4b4b2
1 changed files with 7 additions and 7 deletions
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14
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -51,11 +51,6 @@ AP_Compass_HMC5843::init()
}else
product_id = AP_COMPASS_TYPE_HMC5843;
// calibration initialisation
calibration[0] = 1.0;
calibration[1] = 1.0;
calibration[2] = 1.0;
while( success == 0 && numAttempts < 5 )
{
// record number of attempts at initialisation
@ -82,12 +77,17 @@ AP_Compass_HMC5843::init()
Wire.endTransmission();
delay(10);
// calibration initialisation
calibration[0] = 1.0;
calibration[1] = 1.0;
calibration[2] = 1.0;
// read values from the compass
read();
delay(10);
// calibrate
if( abs(mag_x) > 500 && abs(mag_x) < 1000 && abs(mag_y) > 500 && abs(mag_y) < 1000 && abs(mag_z) > 500 && abs(mag_z) < 1000)
if( abs(mag_x) > 500 && abs(mag_x) < 2000 && abs(mag_y) > 500 && abs(mag_y) < 2000 && abs(mag_z) > 500 && abs(mag_z) < 2000)
{
calibration[0] = fabs(715.0 / mag_x);
calibration[1] = fabs(715.0 / mag_y);
@ -194,4 +194,4 @@ AP_Compass_HMC5843::write_register(int address, byte value)
Wire.send(value);
Wire.endTransmission();
delay(10);
}
}