Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 22:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: added some comments

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_Compass/Compass.cpp
View File

@ -463,16 +463,23 @@ bool Compass::configured(void)
return all_configured; return all_configured;
} }
/*
apply offset and motor compensation corrections
*/
void Compass::apply_corrections(Vector3f &mag, uint8_t i) void Compass::apply_corrections(Vector3f &mag, uint8_t i)
{ {
const Vector3f &offsets = _offset[i].get(); const Vector3f &offsets = _offset[i].get();
const Vector3f &mot = _motor_compensation[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; mag += offsets;
if(_motor_comp_type != AP_COMPASS_MOT_COMP_DISABLED && _thr_or_curr != 0.0f) { if(_motor_comp_type != AP_COMPASS_MOT_COMP_DISABLED && _thr_or_curr != 0.0f) {
_motor_offset[i] = mot * _thr_or_curr; _motor_offset[i] = mot * _thr_or_curr;
mag += _motor_offset[i]; mag += _motor_offset[i];
}else{ } else {
_motor_offset[i].zero(); _motor_offset[i].zero();
} }
} }