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Fixed mag axis assignment, fixed mag calibration

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Lorenz Meier
2012-08-17 17:37:58 +02:00
parent 73286f3262
commit bce043a21b
4 changed files with 22 additions and 9 deletions
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19
apps/commander/commander.c
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@@ -376,9 +376,22 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
printf("\nFINAL:\nmag min: %d\t%d\t%d\nmag max: %d\t%d\t%d\n", (int)min_avg[0], (int)min_avg[1], (int)min_avg[2], (int)max_avg[0], (int)max_avg[1], (int)max_avg[2]);
float mag_offset[3];
mag_offset[0] = (max_avg[0] - min_avg[0]);
mag_offset[1] = (max_avg[1] - min_avg[1]);
mag_offset[2] = (max_avg[2] - min_avg[2]);
/**
* The offset is subtracted from the sensor values, so the result is the
* POSITIVE number that has to be subtracted from the sensor data
* to shift the center to zero
*
* offset = max - ((max - min) / 2.0f)
*
* which reduces to
*
* offset = (max + min) / 2.0f
*/
mag_offset[0] = (max_avg[0] + min_avg[0]) / 2.0f;
mag_offset[1] = (max_avg[1] + min_avg[1]) / 2.0f;
mag_offset[2] = (max_avg[2] + min_avg[2]) / 2.0f;
global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_XOFFSET] = mag_offset[0];
global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_YOFFSET] = mag_offset[1];