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HAL_ChibiOS: added heater correction of AK09916

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this fixes a problem with the internal compass being impacted by the
magnetic field from the heater
This commit is contained in:
Andrew Tridgell 2021-02-08 14:45:32 +11:00 committed by Peter Barker
parent a90b54ba6e
commit 86fda93781
1 changed files with 4 additions and 0 deletions
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libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
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@ -281,6 +281,10 @@ COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270
# compass as part of ICM20948 on newer cubes
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
# offset the internal compass for EM impact of the IMU heater
# this is in sensor frame mGauss
define HAL_AK09916_HEATER_OFFSET Vector3f(30,10,235)
# also probe for external compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES