More macro fixes

RoboJackets · May 29, 2024 · 7e366ee · 7e366ee
1 parent 3574671
commit 7e366ee
Showing 1 changed file with 14 additions and 8 deletions.
diff --git a/src/IMU-LSM6DS3-LIS3MDL/main.cpp b/src/IMU-LSM6DS3-LIS3MDL/main.cpp
@@ -43,17 +43,23 @@ constexpr int BLINK_TIMER_MS = 500;
 
 // calibration constants
 const double hard_iron[3] = {
-    // 46.89, 108.58, 1.81 // on rover
-    21.72, 99.43, -35.03
+    // on rover
+    46.89, 108.58, 1.81
+
+    // off rover
+    // 21.72, 99.43, -35.03
 };
 
 const double soft_iron[3][3] = {
-    // 0.941, 0.038, 0.029, // on rover
-    // 0.038, 1.004, 0.018,
-    // 0.029, 0.018, 1.061
-    0.939, 0.070, 0.032,
-    0.070, 1.001, 0.028,
-    0.032, 0.028, 1.071
+    // on rover
+    0.941, 0.038, 0.029,
+    0.038, 1.004, 0.018,
+    0.029, 0.018, 1.061
+
+    // off rover
+    // 0.939, 0.070, 0.032,
+    // 0.070, 1.001, 0.028,
+    // 0.032, 0.028, 1.071
 };
 
 const double declination = 10.1; // -5.517 for ATL