Question

我正在开发基于arduino的GPS导航机器人，我正在使用hmc5883-l指南针，已经对指南针进行了校准，但问题是它显示方向错误，例如，如果我的机器人必须向西移动270度，我的机器人将进行校正以匹配270度，但机器人的270度不是实际的270度。

我正在使用此代码


#include <Wire.h>
#include <HMC5883L.h>

HMC5883L compass;

void setup()
{
  Serial.begin(9600);

  Serial.println("Initialize HMC5883L");
  while (!compass.begin())
  {
    Serial.println("Could not find a valid HMC5883L sensor, check wiring!");
    delay(500);
  }

  compass.setRange(HMC5883L_RANGE_1_3GA);
  compass.setMeasurementMode(HMC5883L_CONTINOUS);
  compass.setDataRate(HMC5883L_DATARATE_30HZ);
  compass.setSamples(HMC5883L_SAMPLES_8);
  compass.setOffset(72,177);
}

void loop()
{
  Vector norm = compass.readNormalize();

  float heading = atan2(norm.YAxis, norm.XAxis);
  float declinationAngle = (2 + (8 / 60.0)) / (180 / M_PI);
  heading += declinationAngle;
  if (heading < 0)
  {
    heading += 2 * PI;
  }

  if (heading > 2 * PI)
  {
    heading -= 2 * PI;
  }
  float headingDegrees = heading * 180/M_PI; 
  Serial.print(" Heading = ");
  Serial.print(heading);
  headingDegrees=360-headingDegrees; //because compass is upside down
  Serial.print(" Degrees  = ");
  Serial.print(headingDegrees);


  Serial.println();

  delay(100);
}

机器人指向西方向（270度）时输出

 Heading = 0.18 Degrees  = 349.68
 Heading = 0.17 Degrees  = 350.19
 Heading = 0.16 Degrees  = 350.74
 Heading = 0.19 Degrees  = 349.34
 Heading = 0.19 Degrees  = 349.22
 Heading = 0.17 Degrees  = 350.51
 Heading = 0.18 Degrees  = 349.66
 Heading = 0.18 Degrees  = 349.95
 Heading = 0.20 Degrees  = 348.71
 Heading = 0.16 Degrees  = 350.74
 Heading = 0.18 Degrees  = 349.90
 Heading = 0.19 Degrees  = 348.89

此时，度数必须为270，但约为348

我们如何才能将HMC5883-l罗盘的北角与实际北角进行匹配

0 个答案: