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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-07-13 13:22:18 +02:00
parent 10a3b540cb
commit b09eba7aab
2 changed files with 7 additions and 1 deletions
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6
src/main/fc/settings.yaml
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@ -419,14 +419,20 @@ groups:
min: INT16_MIN min: INT16_MIN
max: INT16_MAX max: INT16_MAX
- name: maggain_x - name: maggain_x
description: "Magnetometer calibration X gain. If 0, no calibration or calibration failed"
default_value: "0"
field: magGain[X] field: magGain[X]
min: INT16_MIN min: INT16_MIN
max: INT16_MAX max: INT16_MAX
- name: maggain_y - name: maggain_y
description: "Magnetometer calibration Y gain. If 0, no calibration or calibration failed"
default_value: "0"
field: magGain[Y] field: magGain[Y]
min: INT16_MIN min: INT16_MIN
max: INT16_MAX max: INT16_MAX
- name: maggain_z - name: maggain_z
description: "Magnetometer calibration Z gain. If 0, no calibration or calibration failed"
default_value: "0"
field: magGain[Z] field: magGain[Z]
min: INT16_MIN min: INT16_MIN
max: INT16_MAX max: INT16_MAX

2
src/main/sensors/compass.c
View file

@ -380,7 +380,7 @@ void compassUpdate(timeUs_t currentTimeUs)
diffMag += (mag.magADC[axis] - magPrev[axis]) * (mag.magADC[axis] - magPrev[axis]); diffMag += (mag.magADC[axis] - magPrev[axis]) * (mag.magADC[axis] - magPrev[axis]);
avgMag += (mag.magADC[axis] + magPrev[axis]) * (mag.magADC[axis] + magPrev[axis]) / 4.0f; avgMag += (mag.magADC[axis] + magPrev[axis]) * (mag.magADC[axis] + magPrev[axis]) / 4.0f;
int32_t sample = ABS(mag.magADC[axis]); const int32_t sample = ABS(mag.magADC[axis]);
if (sample > magGain[axis]) { if (sample > magGain[axis]) {
magGain[axis] = sample; magGain[axis] = sample;
} }