From 5888a88f71ba9d7e850502657bd2d3d0079ce676 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Wed, 10 Aug 2022 05:30:36 +0530 Subject: [PATCH] hwdef/CubeOrange: reapply added compass compensation use the new compass heater compensation for 4 compasses --- libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc index 79a99cb1d3..e9f6d3da97 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc @@ -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