Placeholder for Klaus : Preventing the ordeal of angle definitions in the configuration file

[degeflija]

This is a placeholder for Klaus, not a fully fledged algorithm.
After some discussion with him : This is - hopefully - a fruitful way to arrive at these angles.

Pack the LARUS system into your plane.

Then, just fly with the plane for an hour, do some thermalling. The mag compass system will automatically perform a good part of its hard/soft iron calibration, though it will not be perfect. That is why the process will turn out to be iterative.

When your first flight with LARUS is done, position the plane in the open field, away from other magnetic influences, in such manner that the flight axis points true north, with level wings, and at the pitch which belongs to your best glide (see your Flughandbuch to find the drawing for the weighing procedure - best glide is always at the same attitude/incline as the weighing position).

Then (plain fucking magic) hit a button to start an internal process which uses the current output of the mag sensor to compute the configuration angles (the cardan angles) which would turn the mag sensor output values into usable direction vectors, using the outside reference (true north, level, incline).

It could be, that this internal process requires a second reference point by pointing the plane at some other heading relative to true north.

Good luck, Klaus. You have achieved bigger miracles.

Caution:
Since the iron-calibration-process is NOT independent from the initial configuration's angular settings, this process will have to be repeated, possibly.

Caution:
There is no experience yet with this process on whether or not in converges at all.

Caution:
It is currently not clear, if the angular configuration has be preset to some values to make this process converge, or if the algorithm converges in all cases.