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changeset 1010:08f76d3e9856 GasConsumption

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Bugfix: Pitch compensation The pitch was not calculated correct during calibration process. As result the heading value is sensetive to pitch movment. The issue has been solved by applying the correct formular for calculation.
author Ideenmodellierer
date Tue, 06 May 2025 22:07:39 +0200 (3 months ago)
parents 3bcf592e9cc9
children 085e9c04b76b
files Small_CPU/Src/compass.c
diffstat 1 files changed, 1 insertions(+), 1 deletions(-) [+]
line wrap: on
line diff
--- a/Small_CPU/Src/compass.c	Tue May 06 12:57:33 2025 +0200
+++ b/Small_CPU/Src/compass.c	Tue May 06 22:07:39 2025 +0200
@@ -1107,7 +1107,7 @@
 	sinPhi = sinf(Phi);
 	cosPhi = cosf(Phi);
 
-	Teta = atan2((double)accel_DX_f, sqrt((double)accel_DY_f * accel_DY_f + (double)accel_DZ_f * accel_DZ_f));
+	Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
 	compass_pitch = Teta * (180.0 / PI);
 
 	sinTeta = sinf(Teta);