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AP_Compass: fixed zero compass diagonals #22666

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merged 1 commit into from
Jan 17, 2023
Merged

AP_Compass: fixed zero compass diagonals #22666

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16 changes: 9 additions & 7 deletions libraries/AP_Compass/AP_Compass_Backend.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,13 +90,15 @@ void AP_Compass_Backend::correct_field(Vector3f &mag, uint8_t i)

#if AP_COMPASS_DIAGONALS_ENABLED
// apply eliptical correction
Matrix3f mat(
diagonals.x, offdiagonals.x, offdiagonals.y,
offdiagonals.x, diagonals.y, offdiagonals.z,
offdiagonals.y, offdiagonals.z, diagonals.z
);

mag = mat * mag;
if (!diagonals.is_zero()) {
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Any element being zero would be bad in here. I wonder if it would be possible to get into that situation with loaded parameters.

Since this equivalent to what we had pre-regression, it really doesn't matter.

Matrix3f mat(
diagonals.x, offdiagonals.x, offdiagonals.y,
offdiagonals.x, diagonals.y, offdiagonals.z,
offdiagonals.y, offdiagonals.z, diagonals.z
);

mag = mat * mag;
}
#endif

#if COMPASS_MOT_ENABLED
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24 changes: 13 additions & 11 deletions libraries/AP_Compass/AP_Compass_Calibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -463,18 +463,20 @@ bool Compass::get_uncorrected_field(uint8_t instance, Vector3f &field) const
// needed to remove the effects of the eliptical correction
// when calculating new offsets
const Vector3f &diagonals = get_diagonals(instance);
const Vector3f &offdiagonals = get_offdiagonals(instance);
Matrix3f mat {
diagonals.x, offdiagonals.x, offdiagonals.y,
offdiagonals.x, diagonals.y, offdiagonals.z,
offdiagonals.y, offdiagonals.z, diagonals.z
};
if (!mat.invert()) {
return false;
}
if (!diagonals.is_zero()) {
const Vector3f &offdiagonals = get_offdiagonals(instance);
Matrix3f mat {
diagonals.x, offdiagonals.x, offdiagonals.y,
offdiagonals.x, diagonals.y, offdiagonals.z,
offdiagonals.y, offdiagonals.z, diagonals.z
};
if (!mat.invert()) {
return false;
}

// remove impact of diagonals and off-diagonals
field = mat * field;
// remove impact of diagonals and off-diagonals
field = mat * field;
}
#endif

// remove impact of offsets
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