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AP_Compass: added some comments

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This commit is contained in:
Andrew Tridgell 2014-10-19 16:59:31 +11:00
parent 9054dd3f9a
commit 7db0244dac
1 changed files with 9 additions and 2 deletions
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11
libraries/AP_Compass/Compass.cpp
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@ -463,16 +463,23 @@ bool Compass::configured(void)
return all_configured;
}
/*
apply offset and motor compensation corrections
*/
void Compass::apply_corrections(Vector3f &mag, uint8_t i)
{
const Vector3f &offsets = _offset[i].get();
const Vector3f &mot = _motor_compensation[i].get();
/*
note that _motor_offset[] is kept even if compensation is not
being applied so it can be logged correctly
*/
mag += offsets;
if(_motor_comp_type != AP_COMPASS_MOT_COMP_DISABLED && _thr_or_curr != 0.0f) {
_motor_offset[i] = mot * _thr_or_curr;
mag += _motor_offset[i];
}else{
} else {
_motor_offset[i].zero();
}
}