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| author | Gwendal Grignou <gwendal@chromium.org> | 2020-02-01 23:37:56 -0800 |
|---|---|---|
| committer | Commit Bot <commit-bot@chromium.org> | 2020-02-04 03:16:07 +0000 |
| commit | d60a962c3a4907d2f18c236015aef7b989e1d384 (patch) | |
| tree | 93c8fd42c648378a2e623e489225669e033efbf1 /common/mag_cal.c | |
| parent | ae9aea55280abdf2febb362cd9af7be656614eb2 (diff) | |
| download | chrome-ec-d60a962c3a4907d2f18c236015aef7b989e1d384.tar.gz | |
common: mag_cal: Re-add bias inversion
Sensors add offset to raw value.
kaza_compute calculate the bias (the hard iron) and it has to be remove
from the raw value.
Invert the vector in magnetometer calibration code.
Fixes: 994af4a65fa7e ("common: mag_cal: update magnetometer to leverage kasa")
BUG=b:144027014
BRANCH=none
TEST=Check that after successful online calibration, value reported to
the host are closer to 0 than before calibration.
Change-Id: I6cfd711c82287b1c877912e85d84d2725b063cb2
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2034675
Reviewed-by: Yuval Peress <peress@chromium.org>
Diffstat (limited to 'common/mag_cal.c')
| -rw-r--r-- | common/mag_cal.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/common/mag_cal.c b/common/mag_cal.c index 1dc40e34db..f7b1945933 100644 --- a/common/mag_cal.c +++ b/common/mag_cal.c @@ -132,9 +132,9 @@ int mag_cal_update(struct mag_cal_t *moc, const intv3_t v) /* 4. Kasa sphere fitting */ kasa_compute(&moc->kasa_fit, bias, &radius); if (radius > MIN_FIT_MAG && radius < MAX_FIT_MAG) { - moc->bias[X] = FP_TO_INT(bias[X]); - moc->bias[Y] = FP_TO_INT(bias[Y]); - moc->bias[Z] = FP_TO_INT(bias[Z]); + moc->bias[X] = -FP_TO_INT(bias[X]); + moc->bias[Y] = -FP_TO_INT(bias[Y]); + moc->bias[Z] = -FP_TO_INT(bias[Z]); moc->radius = radius; |