強要
Diff: HMC5883L.cpp
- Revision:
- 6:5c0cebb61b0f
- Parent:
- 5:ea1b30a71280
--- a/HMC5883L.cpp Wed Feb 06 11:53:18 2019 +0000 +++ b/HMC5883L.cpp Thu Feb 07 06:13:40 2019 +0000 @@ -85,7 +85,7 @@ char HMC5883L::getConfigurationB() { char cmd[2]; - cmd[0] = CONFIG_A_REG; // register b address + cmd[0] = CONFIG_B_REG; // register b address i2c_.write(I2C_ADDRESS, cmd, 1, true); i2c_.read(I2C_ADDRESS, &cmd[1], 1, false); return cmd[1]; @@ -133,7 +133,7 @@ { int16_t raw_data[3]; getXYZ(raw_data); - double heading = atan2(static_cast<double>(raw_data[1]+Calib_x), static_cast<double>(raw_data[0])+Calib_y); // heading = arctan(Y/X) + double heading = atan2(static_cast<double>(raw_data[2]+Calib_x), static_cast<double>(raw_data[0])+Calib_y); // heading = arctan(Y/X) // TODO: declenation angle compensation