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AP_Compass: fixed scaling of RM3100

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scale factor was off by 200/256, resulting in COMPASS_SCALE of about
1.28

thanks to Arace for noticing
This commit is contained in:
Andrew Tridgell 2020-03-26 18:15:16 +11:00
parent 5e4cbb0a3f
commit 18c3efc377
1 changed files with 1 additions and 6 deletions
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7
libraries/AP_Compass/AP_Compass_RM3100.cpp
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@ -135,7 +135,7 @@ bool AP_Compass_RM3100::init()
dev->write_register(RM3100_CCZ1_REG, CCP1, true); // cycle count z
dev->write_register(RM3100_CCZ0_REG, CCP0, true); // cycle count z
_scaler = (1 / GAIN_CC200) * UTESLA_TO_MGAUSS; // has to be changed if using a different cycle count
_scaler = (1 / GAIN_CC200) * UTESLA_TO_MGAUSS / 200.0; // has to be changed if using a different cycle count
// lower retries for run
dev->set_retries(3);
@ -204,11 +204,6 @@ void AP_Compass_RM3100::timer()
magy = ((uint32_t)data.magy_2 << 24) | ((uint32_t)data.magy_1 << 16) | ((uint32_t)data.magy_0 << 8);
magz = ((uint32_t)data.magz_2 << 24) | ((uint32_t)data.magz_1 << 16) | ((uint32_t)data.magz_0 << 8);
// right-shift signed integer back to get correct measurement value
magx >>= 8;
magy >>= 8;
magz >>= 8;
// apply scaler and store in field vector
field(magx * _scaler, magy * _scaler, magz * _scaler);