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uncrustify libraries/AP_Compass/Compass.cpp

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uncrustify 2012-08-16 23:19:22 -07:00 committed by Pat Hickey
parent ad8df60749
commit 662d285f44
1 changed files with 30 additions and 30 deletions
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36
libraries/AP_Compass/Compass.cpp
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@ -159,24 +159,24 @@ Compass::calculate_heading(const Matrix3f &dcm_matrix)
/*
this offset nulling algorithm is inspired by this paper from Bill Premerlani
http://gentlenav.googlecode.com/files/MagnetometerOffsetNullingRevisited.pdf
The base algorithm works well, but is quite sensitive to
noise. After long discussions with Bill, the following changes were
made:
1) we keep a history buffer that effectively divides the mag
vectors into a set of N streams. The algorithm is run on the
streams separately
2) within each stream we only calculate a change when the mag
vector has changed by a significant amount.
This gives us the property that we learn quickly if there is no
noise, but still learn correctly (and slowly) in the face of lots of
noise.
* this offset nulling algorithm is inspired by this paper from Bill Premerlani
*
* http://gentlenav.googlecode.com/files/MagnetometerOffsetNullingRevisited.pdf
*
* The base algorithm works well, but is quite sensitive to
* noise. After long discussions with Bill, the following changes were
* made:
*
* 1) we keep a history buffer that effectively divides the mag
* vectors into a set of N streams. The algorithm is run on the
* streams separately
*
* 2) within each stream we only calculate a change when the mag
* vector has changed by a significant amount.
*
* This gives us the property that we learn quickly if there is no
* noise, but still learn correctly (and slowly) in the face of lots of
* noise.
*/
void
Compass::null_offsets(void)