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First Version of ACS Controller #329

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muellerr merged 106 commits from acs-ctrl-v1 into develop 2022-12-02 16:21:58 +01:00
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mission/controller/acs/SensorProcessing.cpp
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@ -102,8 +102,10 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
} }
} }
if (mgm4valid) { if (mgm4valid) {
VectorOperations<float>::subtract(mgm4Value, mgmParameters->mgm4hardIronOffset, mgm4ValueNoBias, float mgm4ValueNT[3];
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, MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
mgm4ValueCalib, 3, 3, 1); mgm4ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib, MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,