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AP_Compass: convert AK8963 measurements to uT

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AK8963 is configured in 16-bit ADC mode which implies sensitivity of 0.15 uT/LSb. Knowing this fact we can convert the measurements to the proper units. The change will make users recalibrate their compasses.
This commit is contained in:
Staroselskii Georgii 2015-07-24 01:50:45 +03:00 committed by Andrew Tridgell
parent c207d8c6a8
commit 693613aa0f
2 changed files with 10 additions and 0 deletions
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9
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -204,9 +204,11 @@ void AP_Compass_AK8963::read()
hal.scheduler->suspend_timer_procs();
auto field = _get_filtered_field();
_reset_filter();
hal.scheduler->resume_timer_procs();
_make_factory_sensitivity_adjustment(field);
_make_adc_sensitivity_adjustment(field);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
field.rotate(ROTATION_YAW_90);
@ -234,6 +236,13 @@ void AP_Compass_AK8963::_reset_filter()
_accum_count = 0;
}
void AP_Compass_AK8963::_make_adc_sensitivity_adjustment(Vector3f& field) const
{
static const float ADC_16BIT_RESOLUTION = 0.15f;
field *= ADC_16BIT_RESOLUTION;
}
void AP_Compass_AK8963::_make_factory_sensitivity_adjustment(Vector3f& field) const
{
field.x *= _magnetometer_ASA[0];

1
libraries/AP_Compass/AP_Compass_AK8963.h
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@ -52,6 +52,7 @@ private:
static AP_Compass_Backend *_detect(Compass &compass, AP_AK8963_SerialBus *bus);
void _make_factory_sensitivity_adjustment(Vector3f& field) const;
void _make_adc_sensitivity_adjustment(Vector3f& field) const;
Vector3f _get_filtered_field() const;
void _reset_filter();