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360 on north direction instead of West #3

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360 on north direction instead of West #3

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3 changes: 2 additions & 1 deletion NazaDecoder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -211,7 +211,8 @@ uint8_t NazaDecoder::decode(int16_t input) {
if (y < magYMin) {
magYMin = y;
}
heading = computeVectorAngle(y - ((magYMax + magYMin) / 2), x - ((magXMax + magXMin) / 2));
heading = -atan2(y - ((magYMax + magYMin) / 2), x - ((magXMax + magXMin) / 2)) * 180.0 / M_PI;
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@dalmirdasilva dalmirdasilva May 10, 2021

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Hey, thanks for the contribution.

I believe this code is covered here: https://github.com/dalmirdasilva/ArduinoMagnetometer/blob/master/Magnetometer/Magnetometer.cpp

Is there anything different on they way you are calculating from the dependency above?

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@vishal-adhikari vishal-adhikari May 10, 2021

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@dalmirdasilva I am not an expert here, but I guess issue is in passing the value. You are passing computeVectorAngle(y, x) and in below function its reversed. [computeVectorAngle(x, y)] x & y are getting interchanged and GPS location is showing 360 on west instead of north.

double Magnetometer::computeVectorAngle(int16_t x, int16_t y) {
double degrees = radiansToDegrees(-atan2(y, x));
if (degrees < 0) {
degrees += 360.0;
}
if (degrees > 360.0) {
degrees -= 360.0;
}
return degrees;
}

if(heading < 0) heading += 360.0;
} else if (messageId == NAZA_MESSAGE_MODULE_VERSION_TYPE) {
firmwareVersion.version = pack4(NAZA_MESSAGE_POS_FW, 0x00);
hardwareVersion.version = pack4(NAZA_MESSAGE_POS_HW, 0x00);
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