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converted MTQ MGM readings from nT to uT

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This commit is contained in:
Marius Eggert 2022-11-03 14:23:06 +01:00
parent a13ccb43d2
commit 4faf00de94
1 changed files with 4 additions and 2 deletions
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6
mission/controller/acs/SensorProcessing.cpp
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@ -102,8 +102,10 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
}
}
if (mgm4valid) {
VectorOperations<float>::subtract(mgm4Value, mgmParameters->mgm4hardIronOffset, mgm4ValueNoBias,
3);
float mgm4ValueNT[3];
VectorOperations<float>::mulScalar(mgm4Value, 1e3, mgm4ValueNT, 3); // uT to nT
VectorOperations<float>::subtract(mgm4ValueNT, mgmParameters->mgm4hardIronOffset,
mgm4ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
mgm4ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,