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Correct magnetometer calibration

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Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
This commit is contained in:
TheJackiMonster 2023-11-30 15:15:23 +01:00
parent dfd8a23937
commit b01eef4fcd
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GPG key ID: D850A5F772E880F9
1 changed files with 4 additions and 4 deletions
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8
interface_lib/src/device3.c
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@ -624,8 +624,8 @@ static void apply_calibration(const device3_type* device,
static FusionVector max = { FLT_MIN, FLT_MIN, FLT_MIN }, min = { FLT_MAX, FLT_MAX, FLT_MAX }; static FusionVector max = { FLT_MIN, FLT_MIN, FLT_MIN }, min = { FLT_MAX, FLT_MAX, FLT_MAX };
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
max.array[i] = max(max.array[i], magnetometer->array[i]); max.array[i] = max(max.array[i], m.array[i]);
min.array[i] = min(min.array[i], magnetometer->array[i]); min.array[i] = min(min.array[i], m.array[i]);
} }
const float mx = (max.axis.x - min.axis.x) / 2.0f; const float mx = (max.axis.x - min.axis.x) / 2.0f;
@ -649,8 +649,8 @@ static void apply_calibration(const device3_type* device,
device->calibration->hardIronOffset = hardIronOffset; device->calibration->hardIronOffset = hardIronOffset;
} }
*magnetometer = FusionCalibrationMagnetic( m = FusionCalibrationMagnetic(
*magnetometer, m,
softIronMatrix, softIronMatrix,
hardIronOffset hardIronOffset
); );