From 79deeef0a0b5cf5f64778fa17834611d89ad7f19 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 28 Mar 2012 22:40:32 +1100
Subject: [PATCH] Compass: added some more comments
explain the algorithm a bit more
---
libraries/AP_Compass/Compass.cpp | 7 ++++++-
1 file changed, 6 insertions(+), 1 deletion(-)
diff --git a/libraries/AP_Compass/Compass.cpp b/libraries/AP_Compass/Compass.cpp
index 4f485b270..a0a294a65 100644
--- a/libraries/AP_Compass/Compass.cpp
+++ b/libraries/AP_Compass/Compass.cpp
@@ -250,7 +250,12 @@ Compass::null_offsets(void)
length = diff.length();
if (length < min_diff) {
// the mag vector hasn't changed enough - we don't get
- // enough information from this vector to use it
+ // enough information from this vector to use it.
+ // Note that we don't put the current vector into the mag
+ // history here. We want to wait for a larger rotation to
+ // build up before calculating an offset change, as accuracy
+ // of the offset change is highly dependent on the size of the
+ // rotation.
_mag_history_index = (_mag_history_index + 1) % _mag_history_size;
return;
}
--
GitLab