aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compass: pixracer calibration fitness default relaxed

Browse Source
This commit is contained in:
Randy Mackay 2017-01-21 10:15:11 +09:00
parent b27e4dbd0c
commit 0c4e3cd8e4
2 changed files with 7 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Compass/AP_Compass.cpp
View File

@ -401,7 +401,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Values: 4:Very Strict,8:Default,16:Relaxed,32:Very Relaxed
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("CAL_FIT", 30, Compass, _calibration_threshold, 8.0f),
AP_GROUPINFO("CAL_FIT", 30, Compass, _calibration_threshold, AP_COMPASS_CALIBRATION_FITNESS_DEFAULT),
AP_GROUPEND
};

6
libraries/AP_Compass/AP_Compass.h
View File

@ -29,6 +29,12 @@
# define MAG_BOARD_ORIENTATION ROTATION_NONE
#endif
// define default compass calibration fitness
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4
# define AP_COMPASS_CALIBRATION_FITNESS_DEFAULT 16.0f
#else
# define AP_COMPASS_CALIBRATION_FITNESS_DEFAULT 8.0f
#endif
/**
maximum number of compass instances available on this platform. If more
than 1 then redundant sensors may be available