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autotest: make magnetic field point down

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This commit is contained in:
Andrew Tridgell 2011-12-12 22:14:01 +11:00
parent c1a23ef150
commit 9548366a91
1 changed files with 1 additions and 1 deletions
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2
libraries/Desktop/support/sitl_compass.cpp
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@ -44,7 +44,7 @@ static Vector3f heading_to_mag(float heading, float roll, float pitch, float yaw
cos_pitch = 1.0e-10;
}
v.z = 0;
v.z = -0.4;
v.y = (headY + v.z*sin_roll) / cos_roll;
v.x = (headX - (v.y*sin_roll*sin_pitch + v.z*cos_roll*sin_pitch)) / cos_pitch;
scale = magnitude / sqrt((v.x*v.x) + (v.y*v.y) + (v.z*v.z));