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added improved mag calibration from http://www.multiwii.com/forum/viewtopic.php?p=13334#p13334 (thanks EOSBandi)

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new hex file only works with Java GUI 20120504-dev :( WinGUI is still not updated. Use latest release version on downloads page if want to use WinGUI.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@153 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-05-06 09:58:03 +00:00
parent 0d7460960e
commit 941f2f1762
9 changed files with 2684 additions and 2495 deletions
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9
src/imu.c
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@ -9,6 +9,7 @@ int32_t EstAlt; // in cm
int16_t BaroPID = 0;
int32_t AltHold;
int16_t errorAltitudeI = 0;
float magneticDeclination = 0.0f; // calculated at startup from config
// **************
// gyro+acc IMU
@ -207,9 +208,8 @@ static void getEstimatedAttitude(void)
accMag = accMag * 100 / ((int32_t)acc_1G * acc_1G);
rotateV(&EstG.V, deltaGyroAngle);
if (sensors(SENSOR_MAG)) {
if (sensors(SENSOR_MAG))
rotateV(&EstM.V, deltaGyroAngle);
}
if (abs(accSmooth[ROLL]) < acc_25deg && abs(accSmooth[PITCH]) < acc_25deg && accSmooth[YAW] > 0)
smallAngle25 = 1;
@ -237,6 +237,11 @@ static void getEstimatedAttitude(void)
if (sensors(SENSOR_MAG)) {
// Attitude of the cross product vector GxM
heading = _atan2f(EstG.V.X * EstM.V.Z - EstG.V.Z * EstM.V.X, EstG.V.Z * EstM.V.Y - EstG.V.Y * EstM.V.Z) / 10;
heading = heading + magneticDeclination;
if (heading > 180)
heading = heading - 360;
else if (heading < -180)
heading = heading + 360;
}
#endif
}