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Compass: decrease sphere coverage to 1/3rd 

for faster sample collection
This commit is contained in:
bugobliterator 2015-03-08 23:31:40 +05:30 committed by Andrew Tridgell
parent a2bd4e8997
commit 7295537e8a
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Compass/CompassCalibrator.cpp
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@ -278,7 +278,7 @@ bool CompassCalibrator::accept_sample(const Vector3f& sample)
return false;
}
float max_distance = fabsf(5.38709f * _sphere_param.named.radius / sqrtf((float)COMPASS_CAL_NUM_SAMPLES)) / 2.0f;
float max_distance = fabsf(5.38709f * _sphere_param.named.radius / sqrtf((float)COMPASS_CAL_NUM_SAMPLES)) / 3.0f;
for (uint16_t i = 0; i<_samples_collected; i++){
float distance = (sample - _sample_buffer[i].get()).length();