MotionMC校准失败所有参数都有默认值

嗨，
我目前正在尝试将MotionEC库用于E-Compass应用程序，并使用MotionMC库校准磁力计。我正在使用带有LSM303AGR的STM32L1-DISCO。我的一般想法是运行校准算法x秒，然后获取校准参数，并将它们应用于电子罗盘计算。
MotionEC库工作得非常好，但我遇到了MotionMC库的麻烦。
首先，我正在运行MotionMC_Update函数，其中包含我从磁力计读取的参数。之后，我正在调用MotionMC_GetCalParams来获取校准参数。但是库总是返回以下默认值：
HI_Bias = {0,0,0}，
SF_Matrix = {{1,0,0}，{0,1,0}，{0,0,1}}，
CalQuality = MMC_CALQSTATUSUNKNOWN
这是我的代码（基于ST示例）。
// COMPASS_REPORT_INTERVAL = 20
//每隔20ms调用一次
void doCalibrationStep（）

{
SensorAxes_t mag_data_uncompensated;
getMagneto（安培; mag_data_uncompensated）; MMC_Input_t data_in;

data_in.Mag [0] =（float）mag_data_uncompensated.AXIS_X / 10.0f;
data_in.Mag [1] =（float）mag_data_uncompensated.AXIS_Y / 10.0f;
data_in.Mag [2] =（float）mag_data_uncompensated.AXIS_Z / 10.0f; data_in.TimeStamp = timestamp * COMPASS_REPORT_INTERVAL;
//示例data_in：Mag = { - 64,5.5,17.1000004}，TimeStamp = 0

MotionMC_Update（安培; DATA_IN）; MMC_Output_t data_out;

MotionMC_GetCalParams（安培; DATA_OUT）; dbg（'CalParams X：％f，Y：％f，Z：％f，质量：％d  r  n'，data_out.HI_Bias [0]，data_out.HI_Bias [1]，

data_out.HI_Bias [2]，data_out.CalQuality）; //无论我多久运行算法时间戳++，一切都有默认值;
}
void doCalibration（）

{
MotionMC_Initialize（COMPASS_REPORT_INTERVAL，1）;
char lib_version [200]; MotionMC_GetLibVersion（lib_version）;

DBG（lib_version）; //这里打印正确的版本＆lt; doCalibrationStep（）以20ms的间隔重复调用，直到x秒过去＆gt;
MotionMC_GetCalParams（安培; cal_params）; //所有参数均为零
}
我完全不知道什么是错的。我错过了什么吗？
谢谢



以下为原文




Hi,
I'm currently trying to use the MotionEC library for an E-Compass application, and to calibrate the Magnetometer with the MotionMC library. I'm using an STM32L1-DISCO with an LSM303AGR. My general idea is to run the calibration algorithm for x seconds, then get the calibration parameters, and apply them to the e-compass calculation.
The MotionEC library works perfectly fine but I ran into troubles with the MotionMC library.
At first, I'm running the MotionMC_Update function with the parameters I'm reading from the Magnetometer. After that, I'm calling MotionMC_GetCalParams to get the calibration parameters. But the library is always returning the following default values:
HI_Bias = {0, 0, 0},
SF_Matrix = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}},
CalQuality = MMC_CALQSTATUSUNKNOWN
Here is my code (based on the ST examples).
// COMPASS_REPORT_INTERVAL = 20
// gets called every 20ms
void doCalibrationStep()

{
    SensorAxes_t mag_data_uncompensated;
    getMagneto(&mag_data_uncompensated);    MMC_Input_t data_in;

    data_in.Mag[0] = (float) mag_data_uncompensated.AXIS_X / 10.0f;
    data_in.Mag[1] = (float) mag_data_uncompensated.AXIS_Y / 10.0f;
    data_in.Mag[2] = (float) mag_data_uncompensated.AXIS_Z / 10.0f;    data_in.TimeStamp = timestamp * COMPASS_REPORT_INTERVAL;
    // example data_in: Mag = {-64, 5.5, 17.1000004}, TimeStamp = 0

    MotionMC_Update(&data_in);    MMC_Output_t data_out;

    MotionMC_GetCalParams(&data_out);    dbg('CalParams X: %f, Y: %f, Z: %f, Quality: %drn', data_out.HI_Bias[0], data_out.HI_Bias[1],

            data_out.HI_Bias[2], data_out.CalQuality);   // everything has default values, no matter how often I run the algo    timestamp++;
}
void doCalibration()

{
    MotionMC_Initialize(COMPASS_REPORT_INTERVAL, 1);
    char lib_version[200];    MotionMC_GetLibVersion(lib_version);

    dbg(lib_version);   // here the correct version is printed   
    MotionMC_GetCalParams(&cal_params);   // all parameters are zero
}
I have absolutely no clue what's wrong. Do I miss something?
Thanks

0