Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

hwdef/CubeOrange: reapply added compass compensation

Browse Source 
use the new compass heater compensation for 4 compasses
This commit is contained in:
bugobliterator 2022-08-10 05:30:36 +05:30 committed by Randy Mackay
parent 529fa6e5d5
commit 5888a88f71
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc
View File

@ -279,8 +279,8 @@ COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
# offset the internal compass for EM impact of the IMU heater
# this is in sensor frame mGauss
define HAL_AK09916_HEATER_OFFSET Vector3f(30,10,235)
# this is in body frame mGauss
define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SPI,4,1,9),Vector3f(10,30,-235)}
# also probe for external compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES