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Fix heading calculation #3669

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Merged
merged 1 commit into from
Dec 12, 2023
Merged

Fix heading calculation #3669

merged 1 commit into from
Dec 12, 2023

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haslinghuis
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@haslinghuis haslinghuis commented Dec 12, 2023 •
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Complements #3668

Fixes:

  • gps heading was divided by 100 instead of 10
  • use radians for icon rotation
  • convert heading to radians and add 180 degrees to make icon point in the right direction

Thanks to @ctzsnooze for testing and suggestions.

@haslinghuis haslinghuis added this to the 10.10.0 milestone Dec 12, 2023
@haslinghuis haslinghuis self-assigned this Dec 12, 2023
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#define RAD                       (M_PIf / 180.0f)
#define DECIDEGREES_TO_RADIANS    (angle) ((angle) / 10.0f * 0.0174532925f)
#define DEGREES_TO_RADIANS(angle) ((angle) * RAD)
#define RADIANS_TO_DEGREES(angle) ((angle) / RAD)

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@haslinghuis haslinghuis force-pushed the heading-calc branch 8 times, most recently from 0124cdc to c5bf184 Compare December 12, 2023 22:25
@sonarqubecloud SonarQubeCloud
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Quality Gate Passed Quality Gate passed

Kudos, no new issues were introduced!

0 New issues
0 Security Hotspots
No data about Coverage
0.0% Duplication on New Code

See analysis details on SonarCloud

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Do you want to test this code? Here you have an automated build:
Betaflight-Configurator-Android
Betaflight-Configurator-Linux
Betaflight-Configurator-macOS
Betaflight-Configurator-Windows
WARNING: It may be unstable and result in corrupted configurations or data loss. Use only for testing!

@haslinghuis haslinghuis merged commit 3dcc41f into betaflight:master Dec 12, 2023
@haslinghuis haslinghuis deleted the heading-calc branch December 12, 2023 22:46
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This is AWESOME! A Mag user can now easily validate that it is working properly, by checking the position of the icon in the centre of the map. When the Mag is oriented and calibrated correctly, the icon angle should be about right, and remain about the same even if the quad is pitched up or down.

With this PR, the icon points upwards when Mag heading is North (around 350-0-10 range), and points to the right when Mag heading is East, down for South, etc. Perfect!

Note that when Mag is connected, the IMU favours Mag, and this is correct; the Mag value is used over the GPS value by the IMU.

If Mag is not connected, the icon angle is consistent with the angle value shown for IMU in the Setup tab.

Also this PR fixes the reported GPS heading value is now correct.

If a quad with a properly Mag and GPS is connected to a laptop, and we walk with the laptop, with the quad facing 'forward' (in the direction we are walking), then the IMU (mag) and GPS headings are nearly identical. This confirms that the Mag is reasonably accurate.

Both the Mag heading and the GPS Heading values can be validated by looking in Sensors when the GPS_RESCUE_HEADING debug is enabled and displayed.

chmelevskij pushed a commit to chmelevskij/betaflight-configurator that referenced this pull request Apr 27, 2024
@haslinghuis @chmelevskij
Fix heading calculation (betaflight#3669)
5887671
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Reviewers

@blckmn blckmn blckmn approved these changes

@ctzsnooze ctzsnooze ctzsnooze approved these changes

@McGiverGim McGiverGim Awaiting requested review from McGiverGim

@chmelevskij chmelevskij Awaiting requested review from chmelevskij

@nerdCopter nerdCopter Awaiting requested review from nerdCopter

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@haslinghuis haslinghuis

Labels
RN: BUGFIX Tested
Projects
Finalizing Firmware 4.5 Release
Status: COMPLETED
Milestone
10.10.0
Development

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3 participants
@haslinghuis @ctzsnooze @blckmn