30 lines
No EOL
1.2 KiB
Markdown
30 lines
No EOL
1.2 KiB
Markdown
# Magnetometer_Calibration
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This repository contains a platformio library and an explanatory jupyter notebook for calculating the hard and soft iron offsets of an magnetometer as descriped in [Calibrating an eCompass in the Presence of Hard- and Soft-Iron Interference](https://www.nxp.com/docs/en/application-note/AN4246.pdf) by NXP.
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## Jupyter notebook
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Simply run `jupyter notebook` int his folder to start jupyter. Then open the mag_calibration notebook. There you all informations needed.
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## C++ implementation
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This implementation depends on Eigen. For platform.io projects you can use [Eigen_Platformio_Header](https://github.com/hobbeshunter/Eigen_Platformio_Header).
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Usage:
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```C++
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#define NO_CALIBRATION_MEASUREMENTS 5000
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Eigen::Array<float, NO_CALIBRATION_MEASUREMENTS, 1> mxs;
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Eigen::Array<float, NO_CALIBRATION_MEASUREMENTS, 1> mys;
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Eigen::Array<float, NO_CALIBRATION_MEASUREMENTS, 1> mzs;
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Eigen::Array<float, NO_CALIBRATION_MEASUREMENTS, 1> rolls;
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Eigen::Array<float, NO_CALIBRATION_MEASUREMENTS, 1> pitchs;
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// Fill measurement arrays
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Magnetometer_Calibration mag_cal;
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mag_cal.calibrate(mxs, mys, mzs, rolls, pitchs);
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Winv = mag_cal.getWinv();
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W = mag_cal.getW();
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V = mag_cal.getV();
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B = mag_cal.getB();
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incl = mag_cal.getInclination();
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``` |