kriswiner
commented
8 years ago Take a look here for how these are used:
https://github.com/kriswiner/MPU-9250/blob/master/MPU9250_MS5637_AHRS_t3.ino
-----Original Message----- From: ijunglee [mailto:notifications@github.com] Sent: August 25, 2016 5:39 AM To: kriswiner/MPU-6050 Subject: [kriswiner/MPU-6050] About the Soft-Iron Calibration (#14)
Hello, I have read the hard-iron and soft-iron magnetic field calibration in your Wiki 'Simple and Effective Magnetometer Calibration': `// Get hard iron correction mag_bias[0] = (mag_max[0] + mag_min[0])/2; // get average x mag bias in counts mag_bias[1] = (mag_max[1] + mag_min[1])/2; // get average y mag bias in counts mag_bias[2] = (mag_max[2] + mag_min[2])/2; // get average z mag bias in counts
dest1[0] = (float) mag_bias[0]MPU9250mResMPU9250magCalibration[0]; // save mag biases in G for main program dest1[1] = (float) mag_bias[1]MPU9250mResMPU9250magCalibration[1];
dest1[2] = (float) mag_bias[2]MPU9250mResMPU9250magCalibration[2];
// Get soft iron correction estimate mag_scale[0] = (mag_max[0] - mag_min[0])/2; // get average x axis max chord length in counts mag_scale[1] = (mag_max[1] - mag_min[1])/2; // get average y axis max chord length in counts mag_scale[2] = (mag_max[2] - mag_min[2])/2; // get average z axis max chord length in counts
float avg_rad = mag_scale[0] + mag_scale[1] + mag_scale[2]; avg_rad /= 3.0;
dest2[0] = avg_rad/((float)mag_scale[0]); dest2[1] = avg_rad/((float)mag_scale[1]); dest2[2] = avg_rad/((float)mag_scale[2]);`
I would like to ask that what is the array dest1 and dest2? Does this mean that I have to substrate the original mag data with the dest1 for hard-iron calibration? How about dest2? Thanks in advance!
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ijunglee
Hello, I have read the hard-iron and soft-iron magnetic field calibration in your Wiki 'Simple and Effective Magnetometer Calibration':
// Get hard iron correction mag_bias[0] = (mag_max[0] + mag_min[0])/2; // get average x mag bias in counts mag_bias[1] = (mag_max[1] + mag_min[1])/2; // get average y mag bias in counts mag_bias[2] = (mag_max[2] + mag_min[2])/2; // get average z mag bias in counts
dest1[0] = (float) mag_bias[0]_MPU9250mRes_MPU9250magCalibration[0]; // save mag biases in G for main program dest1[1] = (float) mag_bias[1]_MPU9250mRes_MPU9250magCalibration[1];
dest1[2] = (float) mag_bias[2]_MPU9250mRes_MPU9250magCalibration[2];
// Get soft iron correction estimate mag_scale[0] = (mag_max[0] - mag_min[0])/2; // get average x axis max chord length in counts mag_scale[1] = (mag_max[1] - mag_min[1])/2; // get average y axis max chord length in counts mag_scale[2] = (mag_max[2] - mag_min[2])/2; // get average z axis max chord length in counts
float avg_rad = mag_scale[0] + mag_scale[1] + mag_scale[2]; avg_rad /= 3.0;
dest2[0] = avg_rad/((float)mag_scale[0]); dest2[1] = avg_rad/((float)mag_scale[1]); dest2[2] = avg_rad/((float)mag_scale[2]);
I would like to ask that what are the array dest1 and dest2? Does this mean that I have to substrate the original mag data with the dest1 for hard-iron calibration? How about dest2? Thanks in advance!