Enable Mag field mode during IMU Tilt compensation

sparkfun · Apr 3, 2024 · ffd5284 · ffd5284
1 parent a940106
commit ffd5284
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/Firmware/RTK_Everywhere/Tilt.ino b/Firmware/RTK_Everywhere/Tilt.ino
@@ -362,11 +362,17 @@ void beginTilt()
     result &= tiltSensor->sendCommand("MEMS_OUTPUT=UART1,OFF");
 
     // Unknown new command for v2
-    result &= tiltSensor->sendCommand("CORRECT_HOLDER=ENABLE"); // From tock firmware
+    result &= tiltSensor->sendCommand("CORRECT_HOLDER=ENABLE"); // From stock firmware
 
     // Trigger IMU on PPS from UM980
     result &= tiltSensor->sendCommand("SET_PPS_EDGE=RISING");
 
+    // Enable magnetic field mode
+    // 'it is recommended to use the magnetic field initialization mode to speed up the initialization process'
+    result &= tiltSensor->sendCommand("AHRS=ENABLE"); 
+
+    result &= tiltSensor->sendCommand("MAG_AUTO_SAVE=ENABLE"); 
+
     if (result == true)
     {
         if (tiltSensor->saveConfiguration() == true)