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mag: use strength in Gauss

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bresch
2020-11-10 09:24:30 +01:00
committed by Paul Riseborough
parent c4d162f9a0
commit da9f314b69
1 changed files with 2 additions and 2 deletions
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EKF/gps_checks.cpp
+2 -2
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@@ -85,7 +85,7 @@ bool Ekf::collect_gps(const gps_message &gps)
// set the magnetic field data returned by the geo library using the current GPS position // set the magnetic field data returned by the geo library using the current GPS position
_mag_declination_gps = get_mag_declination_radians(lat, lon); _mag_declination_gps = get_mag_declination_radians(lat, lon);
_mag_inclination_gps = get_mag_inclination_radians(lat, lon); _mag_inclination_gps = get_mag_inclination_radians(lat, lon);
_mag_strength_gps = get_mag_strength_tesla(lat, lon); _mag_strength_gps = get_mag_strength_gauss(lat, lon);
// request a reset of the yaw using the new declination // request a reset of the yaw using the new declination
if (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE) { if (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE) {
@@ -124,7 +124,7 @@ bool Ekf::collect_gps(const gps_message &gps)
// set the magnetic field data returned by the geo library using the current GPS position // set the magnetic field data returned by the geo library using the current GPS position
_mag_declination_gps = get_mag_declination_radians(lat, lon); _mag_declination_gps = get_mag_declination_radians(lat, lon);
_mag_inclination_gps = get_mag_inclination_radians(lat, lon); _mag_inclination_gps = get_mag_inclination_radians(lat, lon);
_mag_strength_gps = get_mag_strength_tesla(lat, lon); _mag_strength_gps = get_mag_strength_gauss(lat, lon);
// request mag yaw reset if there's a mag declination for the first time // request mag yaw reset if there's a mag declination for the first time
if (_params.mag_fusion_type != MAG_FUSE_TYPE_NONE) { if (_params.mag_fusion_type != MAG_FUSE_TYPE_NONE) {