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磁気偏角は今まで、
#define
という形でハードコーディングされていたが、flashmemoryからread/writeできるようにしました。また、rqtからIMU_Calibrationを立ち上げれば、guiからmag_declinationを指定することがでます。下記画像の左下の空欄に値を入力、隣の
Configure
をクリックするだけです。さらに、GPSモジュールによっては偏角情報を受け取れるので、GPSから偏角情報を受け取った場合のみ自動に偏角を更新するようしました。ただ、手元のublox-m8nはサポートしていないようです。
![Screenshot from 2020-04-17 14-07-28](https://user-images.githubusercontent.com/3666095/79534997-1c46e480-80b7-11ea-8976-f912cf66fd53.png)