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AP_Compass: defualt diagonals vector to 1.0

This commit is contained in:
Iampete1 2022-07-27 18:14:01 +01:00 committed by Andrew Tridgell
parent 82bc2a7d85
commit cdf930effe
2 changed files with 3 additions and 7 deletions
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6
libraries/AP_Compass/AP_Compass.cpp
View File

@ -374,7 +374,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @DisplayName: Compass soft-iron diagonal Z component
// @Description: DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
AP_GROUPINFO("DIA", 24, Compass, _state._priv_instance[0].diagonals, 0),
AP_GROUPINFO("DIA", 24, Compass, _state._priv_instance[0].diagonals, 1.0),
// @Param: ODI_X
// @DisplayName: Compass soft-iron off-diagonal X component
@ -412,7 +412,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @DisplayName: Compass2 soft-iron diagonal Z component
// @Description: DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
AP_GROUPINFO("DIA2", 26, Compass, _state._priv_instance[1].diagonals, 0),
AP_GROUPINFO("DIA2", 26, Compass, _state._priv_instance[1].diagonals, 1.0),
// @Param: ODI2_X
// @DisplayName: Compass2 soft-iron off-diagonal X component
@ -450,7 +450,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @DisplayName: Compass3 soft-iron diagonal Z component
// @Description: DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
AP_GROUPINFO("DIA3", 28, Compass, _state._priv_instance[2].diagonals, 0),
AP_GROUPINFO("DIA3", 28, Compass, _state._priv_instance[2].diagonals, 1.0),
// @Param: ODI3_X
// @DisplayName: Compass3 soft-iron off-diagonal X component

4
libraries/AP_Compass/AP_Compass_Backend.cpp
View File

@ -48,10 +48,6 @@ void AP_Compass_Backend::correct_field(Vector3f &mag, uint8_t i)
{
Compass::mag_state &state = _compass._state[Compass::StateIndex(i)];
if (state.diagonals.get().is_zero()) {
state.diagonals.set(Vector3f(1.0f,1.0f,1.0f));
}
const Vector3f &offsets = state.offset.get();
const Vector3f &diagonals = state.diagonals.get();
const Vector3f &offdiagonals = state.offdiagonals.get();