Gabe/micro-bit-led-compass
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Fixed some math bugs in the compass calcs, needle is now more accurate.

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This commit is contained in:
Gabe Venberg 2025-06-23 18:00:26 +02:00
parent a77b3845e0
commit 26a1da2cb9
4 changed files with 38 additions and 22 deletions
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0
hardware_main/.cargo/config → hardware_main/.cargo/config.toml
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29
hardware_main/src/main.rs
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@ -34,7 +34,7 @@ use microbit::{hal::twim, pac::twim0::frequency::FREQUENCY_A};
use crate::calibration::calc_calibration;
use independent_logic::{
heading_drawing::draw_heading,
heading_drawing::draw_constant_heading,
tilt_compensation::{
calc_attitude, calc_tilt_calibrated_measurement, heading_from_measurement, Heading,
NedMeasurement,
@ -77,7 +77,6 @@ fn main() -> ! {
sensor.set_accel_odr(AccelOutputDataRate::Hz10).unwrap();
let mut sensor = sensor.into_mag_continuous().ok().unwrap();
//TODO: re-callibrate with button.
#[cfg(feature = "calibration")]
let mut calibration = calc_calibration(&mut sensor, &mut display, &mut timer);
#[cfg(not(feature = "calibration"))]
@ -98,28 +97,28 @@ fn main() -> ! {
#[cfg(debug_assertions)]
rprintln!("Calibration: {:?}", calibration);
}
if channel_button_a.is_event_triggered() {
//toggles the bool.
tilt_correction_enabled ^= true;
channel_button_a.reset_events()
}
// if channel_button_a.is_event_triggered() {
// //toggles the bool.
// tilt_correction_enabled ^= true;
// channel_button_a.reset_events()
// }
current_display.reset_matrix();
let heading = calc_heading(&mut sensor, &calibration, &tilt_correction_enabled);
draw_heading::<5, 5>(heading.0, &mut current_display);
draw_constant_heading::<5, 5>(heading, &mut current_display);
display.show(&mut timer, current_display.into(), DELAY)
}
}
/// board has forward in the y direction and right in the -x direction, and down in the -z. (ENU), algs for tilt compensation
/// board has forward in the -y direction and right in the +x direction, and down in the -z. (ENU), algs for tilt compensation
/// need forward in +x and right in +y (this is known as the NED (north, east, down) cordinate
/// system)
/// also converts to f32
pub fn enu_to_ned(measurement: Measurement) -> NedMeasurement {
NedMeasurement {
x: -measurement.y as f32,
y: -measurement.x as f32,
y: measurement.x as f32,
z: -measurement.z as f32,
}
}
@ -145,7 +144,7 @@ fn calc_heading(
ned_mag_data = calc_tilt_calibrated_measurement(ned_mag_data, &attitude);
}
//theta=0 at north, pi/-pi at south, pi/2 at east, and -pi/2 at west
let heading = heading_from_measurement(ned_mag_data);
let heading = heading_from_measurement(&ned_mag_data);
#[cfg(all(not(feature = "calibration"), debug_assertions))]
rprintln!(
@ -154,9 +153,15 @@ fn calc_heading(
attitude.roll * (180.0 / PI),
heading.0 * (180.0 / PI),
);
rprintln!(
"mag: x: {:<+16}, y: {:<+16}, z: {:<+16}",
ned_mag_data.x,
ned_mag_data.y,
ned_mag_data.z
);
#[cfg(all(not(feature = "calibration"), debug_assertions))]
rprintln!(
"x: {:<+16}, y: {:<+16}, z: {:<+16}",
"acell: x: {:<+16}, y: {:<+16}, z: {:<+16}",
ned_acel_data.x,
ned_acel_data.y,
ned_acel_data.z