From 3ce7044590ec60e60311afcd37b80c30d4f0389d Mon Sep 17 00:00:00 2001 From: TheJackiMonster Date: Mon, 24 Apr 2023 21:15:18 +0200 Subject: [PATCH] Add initial calibration data and comment out using magnetometer Signed-off-by: TheJackiMonster --- interface_lib/src/device3.c | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/interface_lib/src/device3.c b/interface_lib/src/device3.c index bc4253b..524ceaa 100644 --- a/interface_lib/src/device3.c +++ b/interface_lib/src/device3.c @@ -640,7 +640,7 @@ static void apply_calibration(const device3_type* device, magnetometerOffset ); - static FusionVector max = { -1000, -1000, -1000 }, min = { 1000, 1000, 1000 }; + static FusionVector max = { 0.077f, -0.129f, -0.446f }, min = { 0.603f, 0.447f, 0.085f }; for (int i = 0; i < 3; i++) { if (magnetometer->array[i] > max.array[i]) max.array[i] = magnetometer->array[i]; if (magnetometer->array[i] < min.array[i]) min.array[i] = magnetometer->array[i]; @@ -869,7 +869,8 @@ int device3_read(device3_type* device, int timeout) { gyroscope = FusionOffsetUpdate((FusionOffset*) device->offset, gyroscope); - FusionAhrsUpdate((FusionAhrs*) device->ahrs, gyroscope, accelerometer, magnetometer, deltaTime); + //FusionAhrsUpdate((FusionAhrs*) device->ahrs, gyroscope, accelerometer, magnetometer, deltaTime); + FusionAhrsUpdateNoMagnetometer((FusionAhrs*) device->ahrs, gyroscope, accelerometer, deltaTime); device3_callback(device, timestamp, DEVICE3_EVENT_UPDATE); return 0;