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Get secondary mag to work, but only if internal

This commit is contained in:
Lorenz Meier 2015-02-10 22:01:31 +01:00
parent d4c7e66212
commit 81c9b9fd95
1 changed files with 20 additions and 0 deletions
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20
src/modules/sensors/sensors.cpp
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@ -1199,6 +1199,16 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_mag), _mag1_sub, &mag_report);
math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
// XXX presume internal mag
vect = _board_rotation * vect;
raw.magnetometer1_ga[0] = vect(0);
raw.magnetometer1_ga[1] = vect(1);
raw.magnetometer1_ga[2] = vect(2);
raw.magnetometer1_raw[0] = mag_report.x_raw;
raw.magnetometer1_raw[1] = mag_report.y_raw;
raw.magnetometer1_raw[2] = mag_report.z_raw;
@ -1214,6 +1224,16 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_mag), _mag2_sub, &mag_report);
math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
// XXX presume internal mag
vect = _board_rotation * vect;
raw.magnetometer2_ga[0] = vect(0);
raw.magnetometer2_ga[1] = vect(1);
raw.magnetometer2_ga[2] = vect(2);
raw.magnetometer2_raw[0] = mag_report.x_raw;
raw.magnetometer2_raw[1] = mag_report.y_raw;
raw.magnetometer2_raw[2] = mag_report.z_raw;