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AP_Compass: remove extra compass field correction

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Siddharth Bharat Purohit 2015-09-02 15:32:11 -07:00 committed by Andrew Tridgell
parent 3abdf85796
commit 75829f5533
1 changed files with 3 additions and 6 deletions
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9
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -213,9 +213,9 @@ void AP_Compass_HMC5843::accumulate(void)
// publish raw_field (corrected point sample) for EKF use
publish_unfiltered_field(raw_field, tnow, _compass_instance);
_mag_x_accum += _mag_x;
_mag_y_accum += _mag_y;
_mag_z_accum += _mag_z;
_mag_x_accum += raw_field.x;
_mag_y_accum += raw_field.y;
_mag_z_accum += raw_field.z;
_accum_count++;
if (_accum_count == 14) {
_mag_x_accum /= 2;
@ -478,9 +478,6 @@ void AP_Compass_HMC5843::read()
field.rotate(ROTATION_YAW_90);
}
rotate_field(field, _compass_instance);
correct_field(field, _compass_instance);
publish_filtered_field(field, _compass_instance);
_retry_time = 0;
}