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AP_Compass: change fixed point format for more range

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Jonathan Challinger 2016-09-16 12:07:53 -07:00 committed by Andrew Tridgell
parent 0652d71a72
commit 419f1bc00e
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Compass/CompassCalibrator.cpp
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@ -686,8 +686,8 @@ uint16_t CompassCalibrator::get_random(void)
//////////// CompassSample public interface //////////////
//////////////////////////////////////////////////////////
#define COMPASS_CAL_SAMPLE_SCALE_TO_FIXED(__X) ((int16_t)constrain_float(roundf(__X*16.0f), INT16_MIN, INT16_MAX))
#define COMPASS_CAL_SAMPLE_SCALE_TO_FLOAT(__X) (__X/16.0f)
#define COMPASS_CAL_SAMPLE_SCALE_TO_FIXED(__X) ((int16_t)constrain_float(roundf(__X*8.0f), INT16_MIN, INT16_MAX))
#define COMPASS_CAL_SAMPLE_SCALE_TO_FLOAT(__X) (__X/8.0f)
Vector3f CompassCalibrator::CompassSample::get() const {
return Vector3f(COMPASS_CAL_SAMPLE_SCALE_TO_FLOAT(x),