航空研究会 / HMC5883L_kai_3

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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