強要
Diff: HMC5883L.cpp
- Revision:
- 5:ea1b30a71280
- Parent:
- 4:bc4e1201e092
- Child:
- 6:5c0cebb61b0f
--- a/HMC5883L.cpp Tue Nov 06 17:35:51 2012 +0000 +++ b/HMC5883L.cpp Wed Feb 06 11:53:18 2019 +0000 @@ -129,11 +129,11 @@ output[i] = int16_t(((unsigned char)data[i*2] << 8) | (unsigned char)data[i*2+1]); } -double HMC5883L::getHeadingXY() +double HMC5883L::getHeadingXY(int Calib_x,int Calib_y) { int16_t raw_data[3]; getXYZ(raw_data); - double heading = atan2(static_cast<double>(raw_data[1]), static_cast<double>(raw_data[0])); // heading = arctan(Y/X) + double heading = atan2(static_cast<double>(raw_data[1]+Calib_x), static_cast<double>(raw_data[0])+Calib_y); // heading = arctan(Y/X) // TODO: declenation angle compensation