Use alternative magnetic calibration model

xioTechnologies · Sep 24, 2023 · 15e463c · Overff · Jan 5, 2024 · 15e463c
1 parent c15d3e9
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/Fusion/FusionCalibration.h b/Fusion/FusionCalibration.h
@@ -35,7 +35,7 @@ static inline FusionVector FusionCalibrationInertial(const FusionVector uncalibr
  * @return Calibrated measurement.
  */
 static inline FusionVector FusionCalibrationMagnetic(const FusionVector uncalibrated, const FusionMatrix softIronMatrix, const FusionVector hardIronOffset) {
-    return FusionVectorSubtract(FusionMatrixMultiplyVector(softIronMatrix, uncalibrated), hardIronOffset);
+    return FusionMatrixMultiplyVector(softIronMatrix, FusionVectorSubtract(uncalibrated, hardIronOffset));
 }
 
 #endif

diff --git a/README.md b/README.md
@@ -101,7 +101,7 @@ i<sub>c</sub> = Ms(i<sub>u</sub> - b)
 
 The `FusionCalibrationMagnetic` function applies magnetometer calibration parameters using the calibration model:
 
-m<sub>c</sub> = Sm<sub>u</sub> - h
+m<sub>c</sub> = S(m<sub>u</sub> - h)
 
 - m<sub>c</sub> is the calibrated magnetometer measurement and `return` value
 - m<sub>u</sub> is the uncalibrated magnetometer measurement and `uncalibrated` argument