UM001
101
8.2
Status Registers
8.2.1
Calculated Magnetometer Calibration
Calculated Magnetometer Calibration
Register ID : 47
Access : Read Only
Comment : Calculated magnetometer calibration values.
Size (Bytes): 48
Example Response: $VNRRG,46,1,0,0,0,1,0,0,0,1,0,0,0*70
Offset
Name
Format
Unit
Description
0
C[0,0]
float
-
4
C[0,1]
float
-
8
C[0,2]
float
-
12
C[1,0]
float
-
16
C[1,1]
float
-
20
C[1,2]
float
-
24
C[2,0]
float
-
28
C[2,1]
float
-
32
C[2,2]
float
-
36
B[0]
float
-
40
B[1]
float
-
44
B[2]
float
-
This register contains twelve values representing the calculated hard and soft iron compensation
parameters. The magnetic measurements are compensated for both hard and soft iron using the
following model.
{
𝑋
𝑌
𝑍
} = [
𝐶00 𝐶01 𝐶02
𝐶10 𝐶11 𝐶12
𝐶20 𝐶21 𝐶22
] ∙ {
𝑀𝑋 − 𝐵0
𝑀𝑌 − 𝐵1
𝑀𝑍 − 𝐵2
}
The variables
{𝑀𝑋, 𝑀𝑌, 𝑀𝑍}
are components of the measured magnetic field. The {X, Y, Z} variables are
the new magnetic field measurements outputted after compensation for hard/soft iron effects.
