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AP_Compass: rename calibration array in HMC

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I think naming the variable "scaling" makes more sense.
This commit is contained in:
Staroselskii Georgii 2015-07-23 16:21:31 +03:00 committed by Andrew Tridgell
parent d8bddcbf3a
commit 633330db14
2 changed files with 14 additions and 14 deletions
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26
libraries/AP_Compass/AP_Compass_HMC5843.cpp
View File

@ -269,7 +269,7 @@ AP_Compass_HMC5843::init()
#if 0
hal.console->printf_P(PSTR("CalX: %.2f CalY: %.2f CalZ: %.2f\n"),
calibration[0], calibration[1], calibration[2]);
_scaling[0], _scaling[1], _scaling[2]);
#endif
_compass_instance = register_compass();
@ -336,9 +336,9 @@ bool AP_Compass_HMC5843::_calibrate(uint8_t calibration_gain,
IS_CALIBRATION_VALUE_VALID(cal[2])) {
// hal.console->printf_P(PSTR("car=%.2f %.2f %.2f good\n"), cal[0], cal[1], cal[2]);
good_count++;
calibration[0] += cal[0];
calibration[1] += cal[1];
calibration[2] += cal[2];
_scaling[0] += cal[0];
_scaling[1] += cal[1];
_scaling[2] += cal[2];
}
#undef IS_CALIBRATION_VALUE_VALID
@ -362,15 +362,15 @@ bool AP_Compass_HMC5843::_calibrate(uint8_t calibration_gain,
doesn't have any impact other than the learned compass
offsets
*/
calibration[0] = calibration[0] * gain_multiple / good_count;
calibration[1] = calibration[1] * gain_multiple / good_count;
calibration[2] = calibration[2] * gain_multiple / good_count;
_scaling[0] = _scaling[0] * gain_multiple / good_count;
_scaling[1] = _scaling[1] * gain_multiple / good_count;
_scaling[2] = _scaling[2] * gain_multiple / good_count;
success = true;
} else {
/* best guess */
calibration[0] = 1.0;
calibration[1] = 1.0;
calibration[2] = 1.0;
_scaling[0] = 1.0;
_scaling[1] = 1.0;
_scaling[2] = 1.0;
}
return success;
@ -404,9 +404,9 @@ void AP_Compass_HMC5843::read()
}
}
Vector3f field(_mag_x_accum * calibration[0],
_mag_y_accum * calibration[1],
_mag_z_accum * calibration[2]);
Vector3f field(_mag_x_accum * _scaling[0],
_mag_y_accum * _scaling[1],
_mag_z_accum * _scaling[2]);
field /= _accum_count;
_accum_count = 0;

2
libraries/AP_Compass/AP_Compass_HMC5843.h
View File

@ -12,7 +12,7 @@
class AP_Compass_HMC5843 : public AP_Compass_Backend
{
private:
float calibration[3] = {0};
float _scaling[3] = {0};
bool _initialised;
bool read_raw(void);
uint8_t _base_config;