From d1d6a5d5ef6398800c1c79037ad58a2599e9940b Mon Sep 17 00:00:00 2001 From: "timecop@gmail.com" Date: Wed, 6 Feb 2013 04:08:10 +0000 Subject: [PATCH] very nice proper magnetometer vector rotation from crashpilot1000 git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@261 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- obj/baseflight.hex | 5924 ++++++++++++++++++++++---------------------- src/board.h | 2 + src/imu.c | 16 +- 3 files changed, 2982 insertions(+), 2960 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 03c497303..959c7deb7 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ :020000040800F2 -:10000000481E00204D8900088D890008CF1F000878 -:100010009189000893890008958900080000000074 -:1000200000000000000000000000000097890008A8 -:1000300099890008000000009B890008316B0008C6 -:100040009F8900089F8900089F8900089F890008F0 -:100050009F8900089F8900089F890008777400081D -:100060009F8900089F8900089F8900089F890008D0 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73d9a7072..ad3b1e5b3 100755 --- a/src/imu.c +++ b/src/imu.c @@ -285,8 +285,22 @@ static void getEstimatedAttitude(void) #ifdef MAG if (sensors(SENSOR_MAG)) { - // Attitude of the cross product vector GxM +#if INACCURATE 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); +#else + float rollRAD = (float)angle[ROLL] * RADX10; + float pitchRAD = -(float)angle[PITCH] * RADX10; + float magX = EstM.A[1]; // Swap X/Y + float magY = EstM.A[0]; // Swap X/Y + float magZ = EstM.A[2]; + float cr = cosf(rollRAD); + float sr = sinf(rollRAD); + float cp = cosf(pitchRAD); + float sp = sinf(pitchRAD); + float Xh = magX * cp + magY * sr * sp + magZ * cr * sp; + float Yh = magY * cr - magZ * sr; + heading = _atan2f(-Yh, Xh); // magnetic heading * 10 +#endif heading = heading + magneticDeclination; heading = heading / 10;