Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_Compass/AP_Compass_AK8963.cpp
View File

@ -79,6 +79,8 @@
#endif #endif
#endif #endif
#define AK8963_MILLIGAUSS_SCALE 10.0f
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus) : 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()); set_dev_id(_compass_instance, _bus->get_dev_id());
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update, void)); 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(); _bus_sem->give();
hal.scheduler->resume_timer_procs(); 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 = Vector3f(mag_x, mag_y, mag_z);
raw_field *= AK8963_MILLIGAUSS_SCALE;
// rotate raw_field from sensor frame to body frame // rotate raw_field from sensor frame to body frame
rotate_field(raw_field, _compass_instance); rotate_field(raw_field, _compass_instance);