From 273a974814a3014ea485065d1a265acc95712dab Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 14 Feb 2012 11:15:27 +1100 Subject: [PATCH] SITL: add some magnetometer offsets this ensures the compass null_offset algorithm has some work to do in autotest --- libraries/Desktop/support/sitl_compass.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/libraries/Desktop/support/sitl_compass.cpp b/libraries/Desktop/support/sitl_compass.cpp index dcb1b1efb8..1876a3f532 100644 --- a/libraries/Desktop/support/sitl_compass.cpp +++ b/libraries/Desktop/support/sitl_compass.cpp @@ -16,6 +16,10 @@ #include "desktop.h" #include "util.h" +#define MAG_OFS_X 17.0 +#define MAG_OFS_Y 125.0 +#define MAG_OFS_Z -18.0 + /* given a magnetic heading, and roll, pitch, yaw values, calculate consistent magnetometer components @@ -65,5 +69,5 @@ void sitl_update_compass(float heading, float roll, float pitch, float yaw) ToRad(roll), ToRad(pitch), ToRad(yaw)); - compass.setHIL(m.x, m.y, m.z); + compass.setHIL(m.x - MAG_OFS_X, m.y - MAG_OFS_Y, m.z - MAG_OFS_Z); }