Diff: HMC5883L.cpp

Revision:

3:f5f6aaf24be0

Parent:

2:bbc9ad18fd3e

--- a/HMC5883L.cpp	Wed Aug 05 13:16:12 2015 +0000
+++ b/HMC5883L.cpp	Sun Jun 04 06:19:54 2017 +0000
@@ -103,6 +103,7 @@
 
 void HMC5883L::init()
 {
+    i2c.frequency(400000);  // use fast (400 kHz) I2C
     writeByte(HMC5883L_ADDRESS, CONFIG_A, 0x78);  // Number of samples averaged: 8, Data output rate: 75 Hz
     writeByte(HMC5883L_ADDRESS, MODE,     0x00);  // Continuous-Measurement Mode
     setMagGain(MagGain_13);
@@ -121,10 +122,11 @@
     dest[2] = (int16_t)(((int16_t)rawData[2]<<8) | rawData[3]);  // MAG_ZOUT
     dest[1] = (int16_t)(((int16_t)rawData[4]<<8) | rawData[5]);  // MAG_YOUT 
     
+     float mRes = 0.73;
     /* Convert raw data to magnetic field values in microtesla */
-     dest[0] = dest[0] / Gauss_LSB_XY * GAUSS_TO_MICROTESLA;
-     dest[1] = dest[1] / Gauss_LSB_XY * GAUSS_TO_MICROTESLA;
-     dest[2] = dest[2] / Gauss_LSB_Z  * GAUSS_TO_MICROTESLA;
+     dest[0] = dest[0] * mRes; // / Gauss_LSB_XY * GAUSS_TO_MICROTESLA;
+     dest[1] = dest[1] * mRes; // / Gauss_LSB_XY * GAUSS_TO_MICROTESLA;
+     dest[2] = dest[2] * mRes; // / Gauss_LSB_Z  * GAUSS_TO_MICROTESLA;
 }
 
 double HMC5883L::getHeading()
@@ -138,7 +140,7 @@
     // After calculating heading declination angle should be added to heading which is the error of the magnetic field in specific location.
     // declinationAngle can be found here http://www.magnetic-declination.com/
     // For Ankara (my location) declinationAngle is ~5.5 degrees (0.096 radians)
-    float declinationAngle = 0.096;
+    float declinationAngle = 0.022;
     heading += declinationAngle;
     
     // Correct for when signs are reversed.