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Add support for MAG gain calibration

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-07-24 18:52:04 +02:00
parent 14e2e1ad1b
commit b85c671b77
4 changed files with 41 additions and 5 deletions
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22
js/msp/MSPHelper.js
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@ -1270,6 +1270,12 @@ var mspHelper = (function (gui) {
CALIBRATION_DATA.magZero.Y = data.getInt16(15, true);
CALIBRATION_DATA.magZero.Z = data.getInt16(17, true);
CALIBRATION_DATA.opflow.Scale = (data.getInt16(19, true) / 256.0);
if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
CALIBRATION_DATA.magGain.X = data.getInt16(21, true);
CALIBRATION_DATA.magGain.Y = data.getInt16(23, true);
CALIBRATION_DATA.magGain.Z = data.getInt16(25, true);
}
break;
@ -1917,8 +1923,20 @@ var mspHelper = (function (gui) {
buffer.push(lowByte(CALIBRATION_DATA.magZero.Z));
buffer.push(highByte(CALIBRATION_DATA.magZero.Z));
buffer.push(lowByte(Math.round(CALIBRATION_DATA.opflow.Scale * 256)));
buffer.push(highByte(Math.round(CALIBRATION_DATA.opflow.Scale * 256)));
buffer.push(lowByte(Math.round(CALIBRATION_DATA.opflow.Scale * 256)));
buffer.push(highByte(Math.round(CALIBRATION_DATA.opflow.Scale * 256)));
if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
buffer.push(lowByte(CALIBRATION_DATA.magGain.X));
buffer.push(highByte(CALIBRATION_DATA.magGain.X));
buffer.push(lowByte(CALIBRATION_DATA.magGain.Y));
buffer.push(highByte(CALIBRATION_DATA.magGain.Y));
buffer.push(lowByte(CALIBRATION_DATA.magGain.Z));
buffer.push(highByte(CALIBRATION_DATA.magGain.Z));
}
break;
case MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG: