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AP_Compass: removed disco special compass offsets

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not needed any more with newer hardware
This commit is contained in:
Andrew Tridgell 2016-09-14 19:05:51 +10:00
parent 9b8b45b218
commit f82827ce79
1 changed files with 0 additions and 12 deletions
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12
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -258,18 +258,6 @@ void AP_Compass_AK8963::_update()
// rotate raw_field from sensor frame to body frame // rotate raw_field from sensor frame to body frame
rotate_field(raw_field, _compass_instance); rotate_field(raw_field, _compass_instance);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
/*
the disco has a very challenging magnetic environment around the
AK8975. The offsets are very large, and prevent calibration
completing even with a large fitness. The following brings the
values to within range of what the on-board calibrator can
handle
*/
raw_field.x -= 350;
raw_field.z -= 1800;
#endif
// publish raw_field (uncorrected point sample) for calibration use // publish raw_field (uncorrected point sample) for calibration use
publish_raw_field(raw_field, time_us, _compass_instance); publish_raw_field(raw_field, time_us, _compass_instance);