Diff: Magnetometer.cpp

Revision:

34:01dec68de3ed

Parent:

32:d37447aec6b4

Child:

40:8e852115fe55

--- a/Magnetometer.cpp	Tue May 05 09:59:11 2015 +0000
+++ b/Magnetometer.cpp	Wed May 06 07:50:02 2015 +0000
@@ -10,11 +10,11 @@
         readCalibrationData(); // temperature calibration
         
         // Initialise hard-iron and soft-iron correction. The minima and maxima values were measured
-        // on my desk and give a starting point for the background calibrator.
-        float minimums[] = { -1800.0f, -80.0f, -1800.0f };
-        float maximums[] = { - 350, 1200, 4 };
+        // smartplane2 prototype gives a starting point for the background calibrator.
+        float minimums[] = { -1536.0f, -2701.0f, -2112.0f };
+        float maximums[] = { 187, 1665, 39 };
         calibrator.setExtremes(minimums, maximums);
-        
+    
         INFO("Bosch Sensortec BMX055-Magneto found");
         powerOff();
     } else {
@@ -104,6 +104,18 @@
     return Vector3(-output[0], output[1], output[2]);
 }
 
+void Magnetometer::getCalibration(Vector3 &mins, Vector3 &maxs)
+{
+    float mi[3], ma[3];
+    calibrator.getExtremes(mi, ma);
+    mins.x = mi[0];
+    mins.y = mi[1];
+    mins.z = mi[2];
+    maxs.x = ma[0];
+    maxs.y = ma[1];
+    maxs.z = ma[2];
+}
+
 void Magnetometer::readCalibrationData()
 {
     // trying to read in serial order of address