fix(Magnetometer):

Fixed Yaw Calculation

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
  */

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

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();