yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

Corrected orientation of external mag

Browse Source
This commit is contained in:
Julian Oes
2013-08-19 16:32:56 +02:00
parent bc717f1715
commit 12df5dd269
1 changed files with 5 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
src/drivers/hmc5883/hmc5883.cpp
View File

@@ -860,12 +860,13 @@ HMC5883::collect()
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
} else {
#endif
/* the standard external mag seems to be rolled 180deg, therefore y and z inverted */
_reports[_next_report].x = ((report.x * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* the standard external mag by 3DR has x pointing to the right, y pointing backwards, and z down,
* therefore switch and invert x and y */
_reports[_next_report].x = ((((report.y == -32768) ? 32767 : -report.y) * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
_reports[_next_report].y = ((((report.y == -32768) ? 32767 : -report.y) * _range_scale) - _scale.y_offset) * _scale.y_scale;
_reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
_reports[_next_report].z = ((((report.z == -32768) ? 32767 : -report.z) * _range_scale) - _scale.z_offset) * _scale.z_scale;
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
#ifdef PX4_I2C_BUS_ONBOARD
}
#endif