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Added compassflip and compassoffset & fixed declination calculations when using negative values #33

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Added compassflip and compassoffset & fixed declination calculations when using negative values #33

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13 changes: 11 additions & 2 deletions src/QMC5883LCompass.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,7 @@ void QMC5883LCompass::setMode(byte mode, byte odr, byte rng, byte osr){
* then: setMagneticDeclination(-19, 43);
*/
void QMC5883LCompass::setMagneticDeclination(int degrees, uint8_t minutes) {
_magneticDeclinationDegrees = degrees + minutes / 60;
_magneticDeclinationDegrees = degrees < 0 ? 0 - (abs(degrees) + minutes / 60) : degrees + minutes / 60;
}


Expand Down Expand Up @@ -409,9 +409,18 @@ int QMC5883LCompass::_get(int i){
@return int azimuth
**/
int QMC5883LCompass::getAzimuth(){
read();
float heading = atan2( getY(), getX() ) * 180.0 / PI;
if (compassFlip){
heading = atan2(-getY(), getX()) * 180.0 / PI;;
}
heading += _magneticDeclinationDegrees;
return (int)heading % 360;
heading = heading - offsetDegrees;
// Ensure heading is in the range of 0 to 360 degrees
if (heading < 0) {
heading += 360;
}
return heading;
}


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105 changes: 54 additions & 51 deletions src/QMC5883LCompass.h
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Expand Up @@ -9,63 +9,66 @@ class QMC5883LCompass{

public:
QMC5883LCompass();
void init();
void init();
void setADDR(byte b);
void setMode(byte mode, byte odr, byte rng, byte osr);
void setMagneticDeclination(int degrees, uint8_t minutes);
void setSmoothing(byte steps, bool adv);
void calibrate();
void setCalibration(int x_min, int x_max, int y_min, int y_max, int z_min, int z_max);
void setCalibrationOffsets(float x_offset, float y_offset, float z_offset);
void setCalibrationScales(float x_scale, float y_scale, float z_scale);
void setMagneticDeclination(int degrees, uint8_t minutes);
void setSmoothing(byte steps, bool adv);
void calibrate();
void setCalibration(int x_min, int x_max, int y_min, int y_max, int z_min, int z_max);
void setCalibrationOffsets(float x_offset, float y_offset, float z_offset);
void setCalibrationScales(float x_scale, float y_scale, float z_scale);
float getCalibrationOffset(uint8_t index);
float getCalibrationScale(uint8_t index);
void clearCalibration();
void setReset();
float getCalibrationScale(uint8_t index);
void clearCalibration();
void setReset();
void read();
int getX();
int getY();
int getZ();
int getAzimuth();
byte getBearing(int azimuth);
void getDirection(char* myArray, int azimuth);

int getX();
int getY();
int getZ();
int getAzimuth();
byte getBearing(int azimuth);
void getDirection(char* myArray, int azimuth);
bool compassFlip = false;
int offsetDegrees = 0;

private:
void _writeReg(byte reg,byte val);
int _get(int index);
float _magneticDeclinationDegrees = 0;
bool _smoothUse = false;
byte _smoothSteps = 5;
bool _smoothAdvanced = false;
byte _ADDR = 0x0D;
int _vRaw[3] = {0,0,0};
int _vHistory[10][3];
int _vScan = 0;
long _vTotals[3] = {0,0,0};
int _vSmooth[3] = {0,0,0};
void _smoothing();
float _offset[3] = {0.,0.,0.};
float _scale[3] = {1.,1.,1.};
int _vCalibrated[3];
void _applyCalibration();
const char _bearings[16][3] = {
{' ', ' ', 'N'},
{'N', 'N', 'E'},
{' ', 'N', 'E'},
{'E', 'N', 'E'},
{' ', ' ', 'E'},
{'E', 'S', 'E'},
{' ', 'S', 'E'},
{'S', 'S', 'E'},
{' ', ' ', 'S'},
{'S', 'S', 'W'},
{' ', 'S', 'W'},
{'W', 'S', 'W'},
{' ', ' ', 'W'},
{'W', 'N', 'W'},
{' ', 'N', 'W'},
{'N', 'N', 'W'},
};
int _get(int index);
float _magneticDeclinationDegrees = 0;

bool _smoothUse = false;
byte _smoothSteps = 5;
bool _smoothAdvanced = false;
byte _ADDR = 0x0D;
int _vRaw[3] = {0,0,0};
int _vHistory[10][3];
int _vScan = 0;
long _vTotals[3] = {0,0,0};
int _vSmooth[3] = {0,0,0};
void _smoothing();
float _offset[3] = {0.,0.,0.};
float _scale[3] = {1.,1.,1.};
int _vCalibrated[3];
void _applyCalibration();
const char _bearings[16][3] = {
{' ', ' ', 'N'},
{'N', 'N', 'E'},
{' ', 'N', 'E'},
{'E', 'N', 'E'},
{' ', ' ', 'E'},
{'E', 'S', 'E'},
{' ', 'S', 'E'},
{'S', 'S', 'E'},
{' ', ' ', 'S'},
{'S', 'S', 'W'},
{' ', 'S', 'W'},
{'W', 'S', 'W'},
{' ', ' ', 'W'},
{'W', 'N', 'W'},
{' ', 'N', 'W'},
{'N', 'N', 'W'},
};



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