atomS3R

Author: mgrouch

sensors/compass_ahrs/atomS3R_compass_mahony/atomS3R_compass_mahony.ino

@@ -70,7 +70,7 @@ class MahonyBackend : public IAttitudeBackend {
 class MahonyCompassApp : public CompassAppBase {
  public:
   MahonyCompassApp()
-      : CompassAppBase(std::make_unique<MahonyBackend>(), MagGateConfig{35, 0.02f, 20}, "Mahony") {}
+      : CompassAppBase(std::make_unique<MahonyBackend>(), MagGateConfig{35, 0.001f, 20}, "Mahony") {}
 };
 
 static MahonyCompassApp g_app;

sensors/compass_ahrs/atomS3R_compass_qmekf/atomS3R_compass_qmekf.ino

@@ -84,7 +84,7 @@ class QmekfBackend : public IAttitudeBackend {
 
 class QmekfCompassApp : public CompassAppBase {
  public:
-  QmekfCompassApp() : CompassAppBase(std::make_unique<QmekfBackend>(), MagGateConfig{35, 0.02f, 20}, "qMEKF") {}
+  QmekfCompassApp() : CompassAppBase(std::make_unique<QmekfBackend>(), MagGateConfig{35, 0.001f, 20}, "qMEKF") {}
 };
 
 static QmekfCompassApp g_app;

src/AtomS3R/AtomS3R_CompassAppBase.h

@@ -137,7 +137,7 @@ struct MagGateConfig {
   uint32_t sample_spacing_ms = 35;
 
   // Used only for soft "stuck" detection, not for rejecting freshness.
-  float min_delta_uT = 0.02f;
+  float min_delta_uT = 0.001f;
 
   // 0 disables stuck flagging.
   uint8_t stuck_reject_after_n = 20;