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AP_Compass: AK8963: fix where to apply sensitivity adjustments

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The function rotate_field() can change the values axes and the function
correct_field() applies offsets (which are already in milligauss). Thus any
sensitivity adjustment must be done for two reasons:

    (1) The offsets must be applied to the values already in milligauss;
    (2) The factory sensitivity adjustment values are per axis, if any rotation
        that switches axes is applied, that'll mess with the adjustment.

Experiments showed that before this patch the length of the mag field reported
quite different from the expected. After this patch, the same experiments
showed reasonable values.
This commit is contained in:
Gustavo Jose de Sousa 2015-10-08 20:07:41 -03:00 committed by Randy Mackay
parent 6198e81bb3
commit b603641d7c
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -211,9 +211,6 @@ void AP_Compass_AK8963::read()
_reset_filter(); _reset_filter();
hal.scheduler->resume_timer_procs(); hal.scheduler->resume_timer_procs();
_make_factory_sensitivity_adjustment(field);
_make_adc_sensitivity_adjustment(field);
publish_filtered_field(field, _compass_instance); publish_filtered_field(field, _compass_instance);
} }
@ -279,6 +276,9 @@ void AP_Compass_AK8963::_update()
} }
raw_field = Vector3f(mag_x, mag_y, mag_z); raw_field = Vector3f(mag_x, mag_y, mag_z);
_make_factory_sensitivity_adjustment(raw_field);
_make_adc_sensitivity_adjustment(raw_field);
raw_field *= AK8963_MILLIGAUSS_SCALE; raw_field *= AK8963_MILLIGAUSS_SCALE;
// rotate raw_field from sensor frame to body frame // rotate raw_field from sensor frame to body frame