Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: HMC5843: move hardcoded rotation to before call to rotate_field()

Browse Source 
That rotation is set for AP_COMPASS_TYPE_HMC5883L, because it's usually
the compass from 3DR GPS+Compass kit, which has an arrow pointing the
"correct" direction. That rotation should be done before rotate_field()
as it represents the "standard" position for the kit.

This patch also makes published values consistent with respect to rotation.
Before this, raw fields used in calibration were published with a
rotation different from the filtered field when _product_id is
AP_COMPASS_TYPE_HMC5883L.
This commit is contained in:
Gustavo Jose de Sousa 2016-01-20 18:48:48 -02:00 committed by Lucas De Marchi
parent ad91a810b3
commit 35cddc7af0
1 changed files with 5 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_Compass/AP_Compass_HMC5843.cpp
View File

@ -241,6 +241,11 @@ void AP_Compass_HMC5843::accumulate()
Vector3f raw_field = Vector3f(_mag_x, _mag_y, _mag_z);
raw_field *= _gain_scale;
// rotate to the desired orientation
if (_product_id == AP_COMPASS_TYPE_HMC5883L) {
raw_field.rotate(ROTATION_YAW_90);
}
// rotate raw_field from sensor frame to body frame
rotate_field(raw_field, _compass_instance);
@ -293,12 +298,6 @@ void AP_Compass_HMC5843::read()
_accum_count = 0;
_mag_x_accum = _mag_y_accum = _mag_z_accum = 0;
// rotate to the desired orientation
// FIXME: wrong way to rotate compass
if (_product_id == AP_COMPASS_TYPE_HMC5883L) {
field.rotate(ROTATION_YAW_90);
}
publish_filtered_field(field, _compass_instance);
}