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AP_Compass: add a macro for checking calibration values in HMC

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Staroselskii Georgii 2015-07-23 13:52:02 +03:00 committed by Andrew Tridgell
parent f61386ae43
commit 79ffddc6db
1 changed files with 8 additions and 4 deletions
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12
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -326,17 +326,21 @@ bool AP_Compass_HMC5843::_calibrate(uint8_t calibration_gain,
// still be changing its state from the application of the
// strap excitation. After that we accept values in a
// reasonable range
#define IS_CALIBRATION_VALUE_VALID(val) (val > 0.7f && val < 1.35f)
if (numAttempts > 2 &&
cal[0] > 0.7f && cal[0] < 1.35f &&
cal[1] > 0.7f && cal[1] < 1.35f &&
cal[2] > 0.7f && cal[2] < 1.35f) {
// hal.console->printf_P(PSTR("cal=%.2f %.2f %.2f good\n"), cal[0], cal[1], cal[2]);
IS_CALIBRATION_VALUE_VALID(cal[0]) &&
IS_CALIBRATION_VALUE_VALID(cal[1]) &&
IS_CALIBRATION_VALUE_VALID(cal[2])) {
// hal.console->printf_P(PSTR("car=%.2f %.2f %.2f good\n"), cal[0], cal[1], cal[2]);
good_count++;
calibration[0] += cal[0];
calibration[1] += cal[1];
calibration[2] += cal[2];
}
#undef IS_CALIBRATION_VALUE_VALID
#if 0
/* useful for debugging */
hal.console->printf_P(PSTR("MagX: %d MagY: %d MagZ: %d\n"), (int)_mag_x, (int)_mag_y, (int)_mag_z);