Alvee Ahmed / virgo3_imuHandler

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Fork of virgo3_imuHandler_Orion_PCB by Van Nguyen

Diff: imuHandler.cpp

Revision:
13:d329bf89c898
Parent:
12:6ec427e47641
Child:
14:7586410ac0e6
--- a/imuHandler.cpp	Mon Aug 01 06:00:47 2016 +0000
+++ b/imuHandler.cpp	Fri Aug 19 01:13:49 2016 +0000
@@ -576,14 +576,20 @@
     mag_timer.start();  
 }
 
+void MAG_3110::magInit(int16_t off_x, int16_t off_y, int16_t off_z)
+{
+    mag_3110.begin(off_x, off_y, off_z);
+}
+
 void MAG_3110::magUpdate()
 {
     if(mag_timer.read_ms() >= mag_UpdatePeriodMS)
     {
         float mag_data[3];
         
-        mag_3110.get_uT((float*)mag_data);
+        mag_3110.get_uT(mag_data);
         
+        /*
         for(int i=0; i<3; i++) {
             movWindow_Mag[i][movWindow_index_Mag] = mag_data[i];
             Mag[i] = generalFunctions::moving_window(movWindow_Mag[i], movWindow_len_Mag);
@@ -591,6 +597,11 @@
         
         movWindow_index_Mag++;
         if(movWindow_index_Mag >= movWindow_len_Mag) movWindow_index_Mag=0;
+        */
+        
+        for(int i=0; i<3; i++) {
+            Mag[i] = mag_data[i] - Mag_Offset[i];
+        }
     
         mag_timer.reset();
     }