From f8c1e8b81f9eabdffb17082aa6ea58200ad65905 Mon Sep 17 00:00:00 2001
From: tompsontan <1153614092@qq.com>
Date: Fri, 30 Jan 2026 12:38:20 +0800
Subject: [PATCH] Improve QMC5883P magnetometer stability by optimizing OSR and
 ODR settings. (#26350)

---
 src/drivers/magnetometer/qmc5883p/QMC5883P.cpp              | 2 ++
 src/drivers/magnetometer/qmc5883p/QMC5883P.hpp              | 2 +-
 .../magnetometer/qmc5883p/QST_QMC5883P_registers.hpp        | 6 ++++--
 3 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/drivers/magnetometer/qmc5883p/QMC5883P.cpp b/src/drivers/magnetometer/qmc5883p/QMC5883P.cpp
index b0d9693b19..e508e8863e 100644
--- a/src/drivers/magnetometer/qmc5883p/QMC5883P.cpp
+++ b/src/drivers/magnetometer/qmc5883p/QMC5883P.cpp
@@ -244,6 +244,8 @@ void QMC5883P::RunImpl()
 
 bool QMC5883P::Configure()
 {
+	RegisterWrite(Register::REG_29, 0x06);
+
 	// first set and clear all configured register bits
 	for (const auto &reg_cfg : _register_cfg) {
 		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
diff --git a/src/drivers/magnetometer/qmc5883p/QMC5883P.hpp b/src/drivers/magnetometer/qmc5883p/QMC5883P.hpp
index 3ad532d0fb..1663fd88f4 100644
--- a/src/drivers/magnetometer/qmc5883p/QMC5883P.hpp
+++ b/src/drivers/magnetometer/qmc5883p/QMC5883P.hpp
@@ -107,7 +107,7 @@ private:
 	static constexpr uint8_t size_register_cfg{2};
 	register_config_t _register_cfg[size_register_cfg] {
 		// Register                   | Set bits, Clear bits
-		{ Register::CNTL1,            CNTL1_BIT::MODE_CONTINUOUS | CNTL1_BIT::OSR1_8 | CNTL1_BIT::ODR_50HZ,  CNTL1_BIT::OSR2_8},
+		{ Register::CNTL1,            CNTL1_BIT::MODE_CONTINUOUS | CNTL1_BIT::OSR2_4 | CNTL1_BIT::ODR_200HZ,  CNTL1_BIT::OSR1_8},
 		{ Register::CNTL2,            CNTL2_BIT::RNG_2G, CNTL2_BIT::SOFT_RST | CNTL2_BIT::SELF_TEST},
 	};
 };
diff --git a/src/drivers/magnetometer/qmc5883p/QST_QMC5883P_registers.hpp b/src/drivers/magnetometer/qmc5883p/QST_QMC5883P_registers.hpp
index 57fffa6579..ff9428d48d 100644
--- a/src/drivers/magnetometer/qmc5883p/QST_QMC5883P_registers.hpp
+++ b/src/drivers/magnetometer/qmc5883p/QST_QMC5883P_registers.hpp
@@ -79,6 +79,8 @@ enum class Register : uint8_t {
 	CNTL2           = 0x0B, // Control Register 2
 
 	CHIP_ID         = 0x00,
+
+	REG_29 = 0x29,
 };
 
 // STATUS
@@ -90,11 +92,11 @@ enum STATUS_BIT : uint8_t {
 // CNTL1
 enum CNTL1_BIT : uint8_t {
 	// OSR2[7:6]
-	OSR2_8          =  Bit7 | Bit6, // 00
+	OSR2_4          =  Bit7, // 10
 	// OSR1[5:4]
 	OSR1_8          =  Bit5 | Bit4, // 11
 	// ODR[3:2]
-	ODR_50HZ        =  Bit2,        // 01
+	ODR_200HZ        =  Bit3 | Bit2, // 11
 	// MODE[1:0]
 	MODE_CONTINUOUS = Bit1 | Bit0,  // 11
 };