Change the compass calibration calculation #8341
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"result = px4_ioctl (fd, MAGIOCCALIBRATE, fd);" This sentence will cause the compass driver to self-calibrate. The driver program of hmc5883 compass can self-calibration. This will change the scale factor of hmc5883 driver. Therefore, compass calibration input data may have been multiplied by a scale factor.So we have to consider that the scale factor in the driver might not be 1.0. If mscale.*_scale is 1.0f. Then it will not affect the calculation results. If mscale. * _ Scale is not 1.0, then take the scale of the driver program into account.
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Thanks! |
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Excuse me, Is my modification correct? Will my modification cause other problems?Are you going to adopt my modification ? @LorenzMeier |
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@dagar this seems sensible to me. Maybe something to consider? |
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This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions. |
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Closing as stale. |
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"result = px4_ioctl (fd, MAGIOCCALIBRATE, fd);" This sentence will cause the compass driver to self-calibrate.
The driver program of hmc5883 compass can self-calibration. This will change the scale factor of hmc5883 driver. Therefore, compass calibration input data may have been multiplied by a scale factor.So we have to consider that the scale factor in the driver might not be 1.0.
If mscale._scale is 1.0f, then it will not affect the calculation results. If mscale._scale is not 1.0, then take the scale of the driver into account.