Diff: hil.cpp

Revision:

111:0fae4fbe2a80

Parent:

103:fec71c2051c5

Child:

122:68efdee114fa

Child:

139:b378528c05f2

--- a/hil.cpp	Fri Nov 12 12:56:48 2021 +0000
+++ b/hil.cpp	Mon Nov 15 13:42:01 2021 +0000
@@ -41,11 +41,11 @@
     magraw(2,1) = float(vp.magData[1])/1000.0f + (lsm.my-magref.y);
     magraw(3,1) = float(vp.magData[2])/1000.0f + (lsm.mz-magref.z);
 
-    magres = magCalibrator.calcResidial(magraw);
-    if(magres > magresThreshold){
-        magCalibrator.updateParams(magraw,0.001f);
-    };
-    Matrix magmod = magCalibrator.outCalibratedMag(magraw);
+    //magres = magCalibrator.calcResidial(magraw);
+    //if(magres > magresThreshold){
+    //    magCalibrator.updateParams(magraw,0.001f);
+    //};
+    Matrix magmod = magraw;
     mag.x = magmod(1,1);
     mag.y = magmod(2,1);
     mag.z = magmod(3,1);
@@ -54,7 +54,7 @@
     
     if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){
         acc.z += -9.8f;
-        mag.x += 0.2f;
+        mag.x += 0.5;
     }
 }