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df_hmc5883_wrapper: use calibration after rotation

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The calibration values need to be applied after the rotation, otherwise
the offsets and scale can be applied to the wrong axes.
This commit is contained in:
Julian Oes
2016-07-22 09:35:38 +02:00
committed by Lorenz Meier
parent 2a15578f8d
commit 1dd2c94949
1 changed files with 7 additions and 8 deletions
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15
src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
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@@ -281,18 +281,17 @@ int DfHmc9250Wrapper::_publish(struct mag_sensor_data &data)
mag_report.y_raw = NAN;
mag_report.z_raw = NAN;
math::Vector<3> mag_val((data.field_x_ga - _mag_calibration.x_offset) * _mag_calibration.x_scale,
(data.field_y_ga - _mag_calibration.y_offset) * _mag_calibration.y_scale,
(data.field_z_ga - _mag_calibration.z_offset) * _mag_calibration.z_scale);
math::Vector<3> mag_val(data.field_x_ga,
data.field_y_ga,
data.field_z_ga);
// apply sensor rotation on the accel measurement
mag_val = _rotation_matrix * mag_val;
mag_report.x = mag_val(0);
mag_report.y = mag_val(1);
mag_report.z = mag_val(2);
// Apply calibration after rotation.
mag_report.x = (mag_val(0) - _mag_calibration.x_offset) * _mag_calibration.x_scale;
mag_report.y = (mag_val(1) - _mag_calibration.y_offset) * _mag_calibration.y_scale;
mag_report.z = (mag_val(2) - _mag_calibration.z_offset) * _mag_calibration.z_scale;
// TODO: get these right
//mag_report.scaling = -1.0f;