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🐛 Fix imu and magnotometer

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This commit is contained in:
Rune Harlyk
2025-11-27 20:51:54 +01:00
parent d43e98d06b
commit f78a0f50bd
3 changed files with 58 additions and 38 deletions
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esp32/include/peripherals/magnetometer.h
+17 -18
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@@ -38,37 +38,36 @@ struct MagnetometerMsg : public SensorMessageBase {
class Magnetometer : public SensorBase<MagnetometerMsg> {
public:
bool initialize() {
msg.success = _mag.begin();
return msg.success;
bool initialize() override {
_msg.success = _mag.begin();
return _msg.success;
}
bool update() {
if (!msg.success) return false;
bool update() override {
if (!_msg.success) return false;
sensors_event_t event;
bool updated = _mag.getEvent(&event);
if (!updated) return false;
msg.rpy[0] = event.magnetic.x;
msg.rpy[1] = event.magnetic.y;
msg.rpy[2] = event.magnetic.z;
msg.heading = atan2(event.magnetic.y, event.magnetic.x);
msg.heading += declinationAngle;
if (msg.heading < 0) msg.heading += 2 * PI;
if (msg.heading > 2 * PI) msg.heading -= 2 * PI;
msg.heading *= 180 / M_PI;
_msg.rpy[0] = event.magnetic.x;
_msg.rpy[1] = event.magnetic.y;
_msg.rpy[2] = event.magnetic.z;
_msg.heading = atan2(event.magnetic.y, event.magnetic.x);
_msg.heading += declinationAngle;
if (_msg.heading < 0) _msg.heading += 2 * PI;
if (_msg.heading > 2 * PI) _msg.heading -= 2 * PI;
_msg.heading *= 180 / M_PI;
return true;
}
float getMagX() { return msg.rpy[0]; }
float getMagX() { return _msg.rpy[0]; }
float getMagY() { return msg.rpy[1]; }
float getMagY() { return _msg.rpy[1]; }
float getMagZ() { return msg.rpy[2]; }
float getMagZ() { return _msg.rpy[2]; }
float getHeading() { return msg.heading; }
float getHeading() { return _msg.heading; }
private:
Adafruit_HMC5883_Unified _mag {12345};
MagnetometerMsg msg;
const float declinationAngle = 0.22;
};