Vector4::Vector4(const float x, const float y, const float z, const float w){
values[0] = x;
values[1] = y;
values[2] = z;
values[3] = w;
mag = calculateMag();
}
void MPU9150::calibrate() {
Vect3D<float> mag;
if (getIntDataReadyStatus() == 1) {
getMagnetoScaled(&mag.x, &mag.y, &mag.z);
if (min_x >= mag.x) min_x = mag.x; if (max_x < mag.x) max_x = mag.x;
if (min_y >= mag.y) min_y = mag.y; if (max_y < mag.y) max_y = mag.y;
if (min_z >= mag.z) min_z = mag.z; if (max_z < mag.z) max_z = mag.z;
calculateMag();
}
}
//Vector4 will make a copy of this array for itself
Vector4::Vector4(const float *newValues) {
assert(newValues);
values[0] = newValues[0];
values[1] = newValues[1];
values[2] = newValues[2];
values[3] = newValues[3];
mag = calculateMag();
}
void MPU9150::correctMag(float *mx, float *my, float *mz) {
calculateMag();
*mx = (*mx - offset_x) * scale_x;
*my = (*my - offset_y) * scale_y;
*mz = (*mz - offset_z) * scale_z;
}
