From 4f548f328aa69f6c54336b34b9a86da9a18578ba Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 30 Dec 2015 11:54:52 +0100 Subject: [PATCH] Set range to 0.9 Ga max since full scale range is 1.3 Ga --- src/modules/commander/mag_calibration.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index 02b3a9f39a..ef0689bec2 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -73,7 +73,7 @@ static constexpr unsigned int calibration_sides = 6; ///< The total number of static constexpr unsigned int calibration_total_points = 240; ///< The total points per magnetometer static constexpr unsigned int calibraton_duration_seconds = 42; ///< The total duration the routine is allowed to take -static constexpr float MAG_MAX_OFFSET_LEN = 0.6f; ///< The maximum measurement range is ~1.4 Ga, the earth field is ~0.6 Ga, so an offset larger than ~0.8-0.6 Ga means the mag will saturate in some directions. +static constexpr float MAG_MAX_OFFSET_LEN = 0.9f; ///< The maximum measurement range is ~1.4 Ga, the earth field is ~0.6 Ga, so an offset larger than ~0.8-0.6 Ga means the mag will saturate in some directions. int32_t device_ids[max_mags]; int device_prio_max = 0;