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AP_Declination: The exception signs unpacking logic was incorrect. I was shifting a 1 value left y%8 which would have needed a the signs to be packed right to left. My packed signs byte was packed left to right (left most being the 0 position) so I needed to reverse the shifting.

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Adam M Rivera 2012-03-17 01:47:29 -05:00 committed by Andrew Tridgell
parent d9c9e0e608
commit e99d26cfa3
1 changed files with 1 additions and 1 deletions
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libraries/AP_Declination/AP_Declination.cpp
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@ -165,7 +165,7 @@ AP_Declination::get_lookup_value(uint8_t x, uint8_t y)
uint8_t sign = (uint8_t)pgm_read_byte_far(&exception_signs[x][y/8]); uint8_t sign = (uint8_t)pgm_read_byte_far(&exception_signs[x][y/8]);
// Check the sign bit for this index // Check the sign bit for this index
if(sign & (1 << y%8)) if(sign & (0x80 >> y%8))
val = -val; val = -val;
return val; return val;