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AP_Compass: AK8963: scale mag field internally 

This is part of the transition to make all mag field values be used in
milligauss.
This commit is contained in:
Gustavo Jose de Sousa 2015-09-29 16:17:22 -03:00 committed by Randy Mackay
parent 256c9c06c9
commit 6198e81bb3
1 changed files with 5 additions and 2 deletions
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7
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -79,6 +79,8 @@
#endif
#endif
#define AK8963_MILLIGAUSS_SCALE 10.0f
extern const AP_HAL::HAL& hal;
AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus) :
@ -178,7 +180,7 @@ bool AP_Compass_AK8963::init()
set_dev_id(_compass_instance, _bus->get_dev_id());
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update, void));
set_milligauss_ratio(_compass_instance, 10.0f);
set_milligauss_ratio(_compass_instance, 1.0f);
_bus_sem->give();
hal.scheduler->resume_timer_procs();
@ -277,7 +279,8 @@ void AP_Compass_AK8963::_update()
}
raw_field = Vector3f(mag_x, mag_y, mag_z);
raw_field *= AK8963_MILLIGAUSS_SCALE;
// rotate raw_field from sensor frame to body frame
rotate_field(raw_field, _compass_instance);