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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 05:20:34 +08:00
Daniel Agar
ca9b6bc137
- use proper Mavlink MAV_CMD_FIXED_MAG_CAL_YAW command for initiating magnetometer quick cal - MAV_CMD_FIXED_MAG_CAL_YAW allows specifying the yaw and optionally latitude and longitude if the vehicle doesn't have GPS
51 lines
2.1 KiB
C
51 lines
2.1 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mag_calibration.h
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* Magnetometer calibration routine
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*/
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#ifndef MAG_CALIBRATION_H_
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#define MAG_CALIBRATION_H_
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#include <math.h>
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#include <stdint.h>
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#include <uORB/uORB.h>
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int do_mag_calibration(orb_advert_t *mavlink_log_pub);
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int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radians = 0, float latitude = NAN,
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float longitude = NAN);
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#endif /* MAG_CALIBRATION_H_ */
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