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Add magnetic heading as debug and magnetic declination for the Mahony filter (#13073)

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* Add mag heading to GPS Rescue heading debug

* Roll and pitch compensated magnetic yaw

* Changes according to PR comments

* Encapsulate yawMag calculations

* Corrected naming

* Changes according to PR comments

* Changes so that Checks don't fail

* Added PARAM_NAME list

* Changes so that Checks don't fail

* Changes according to PR comments

* Update src/main/fc/parameter_names.h

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Changes according to PR comments

* 200Hz compass task

* fix wait status flag

* increase default ODR of HMC5883L to 75Hz

* fix spikes in MagYaw debug by re-calc only on new data

---------

Co-authored-by: ctzsnooze <chris.thompson@sydney.edu.au>
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
This commit is contained in:
pichim 2023-09-27 00:01:22 +01:00 • committed by GitHub
parent 1856d6f7ef
commit 9ada5638a3
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10 changed files with 96 additions and 32 deletions
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src/main/fc/tasks.c
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@ -383,7 +383,7 @@ task_attribute_t task_attributes[TASK_COUNT] = {
#endif
#ifdef USE_MAG
[TASK_COMPASS] = DEFINE_TASK("COMPASS", NULL, NULL, taskUpdateMag, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
[TASK_COMPASS] = DEFINE_TASK("COMPASS", NULL, NULL, taskUpdateMag, TASK_PERIOD_HZ(TASK_COMPASS_RATE_HZ), TASK_PRIORITY_LOW),
#endif
#ifdef USE_BARO