From 9ae974deab83fdb712d30423eb9c2832e68897ee Mon Sep 17 00:00:00 2001
From: Devoalda <linuxes_mojoworld@aleeas.com>
Date: Fri, 27 Oct 2023 19:54:22 +0800
Subject: [PATCH] fix(Magnetometer):

Fixed Yaw Calculation
---
 frtos/config/magnetometer_config.h       | 12 ++++++++++++
 frtos/magnetometer/LSM303DLHC_register.h |  8 --------
 frtos/magnetometer/magnetometer_test.c   |  4 ++--
 3 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/frtos/config/magnetometer_config.h b/frtos/config/magnetometer_config.h
index 1eed5f3..2996d79 100644
--- a/frtos/config/magnetometer_config.h
+++ b/frtos/config/magnetometer_config.h
@@ -10,6 +10,18 @@
 #define ALPHA                                   ( 0.01f ) // Complementary
                                                           // Filter Constant
 
+// LSM303DLHC temperature compensation coefficients
+#define SCALE_Z                                 ( 1.0f ) // Scale for Z-axis
+#define OFFSET_Z                                ( 3.0f ) // Offset for Z-axis
+
+#define TEMPERATURE_OFFSET                      ( 25.0f ) // Reference
+                                                          // temperature for
+                                                          // calibration
+
+#define TEMPERATURE_COEFFICIENT_Z               ( 0.33f ) // Temperature
+                                                          // coefficient for
+                                                          // Z-axis
+
 /**
  * @brief The orientation of the car
  */
diff --git a/frtos/magnetometer/LSM303DLHC_register.h b/frtos/magnetometer/LSM303DLHC_register.h
index 5b5940f..8b24e6b 100644
--- a/frtos/magnetometer/LSM303DLHC_register.h
+++ b/frtos/magnetometer/LSM303DLHC_register.h
@@ -28,15 +28,7 @@
 #define LSM303_TEMP_OUT_H_M         0x31
 #define LSM303_TEMP_OUT_L_M         0x32
 
-// LSM303DLHC temperature compensation coefficients
-#define SCALE_Z                     0.9 // Scale factor for Z-axis
-#define OFFSET_Z                    5.0 // Offset for Z-axis
 
-#define TEMPERATURE_OFFSET          25.0 // Reference temperature for calibration
-#define TEMPERATURE_COEFFICIENT_Z   0.33
-
-#define OFFSET_Z                    5.0
-#define SCALE_Z                     0.9
 
 #define ACCEL_ADDR                  0x19
 #define MAG_ADDR                    0x1E
diff --git a/frtos/magnetometer/magnetometer_test.c b/frtos/magnetometer/magnetometer_test.c
index 18af527..b509d42 100644
--- a/frtos/magnetometer/magnetometer_test.c
+++ b/frtos/magnetometer/magnetometer_test.c
@@ -30,9 +30,9 @@ main (void)
 {
     stdio_usb_init();
 
-    sleep_ms(2000);
+//    sleep_ms(2000);
 
-    printf("Test started!\n");
+//    printf("Test started!\n");
     magnetometer_init();
 
     launch();