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828b55a735
Code for hard iron calibration: Every seconds (or faster if enough samples), find a sphere that fit the compass data. Based on Android code. BRANCH=smaug BUG=chrome-os-partner:39900 TEST=Check hard-iron bias is removed. Works better outside. Change-Id: Iab479d5113b6560b4f01b0fd87373d2eecdb9b54 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/299583 Reviewed-by: Anton Staaf <robotboy@chromium.org>
34 lines
596 B
C
34 lines
596 B
C
/* Copyright 2015 The Chromium OS Authors. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the LICENSE file.
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*/
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#include "common.h"
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#include "math.h"
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#include "math_util.h"
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#include "vec3.h"
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#include "util.h"
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void vec3_scalar_mul(vec3_t v, float c)
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{
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v[X] *= c;
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v[Y] *= c;
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v[Z] *= c;
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}
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float vec3_dot(const vec3_t v, const vec3_t w)
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{
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return v[X] * w[X] + v[Y] * w[Y] + v[Z] * w[Z];
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}
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float vec3_norm_squared(const vec3_t v)
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{
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return vec3_dot(v, v);
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}
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float vec3_norm(const vec3_t v)
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{
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return sqrtf(vec3_norm_squared(v));
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}
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