def get_motor_offsets(SERVO_OUTPUT_RAW, ofs, motor_ofs):
    '''calculate magnetic field strength from raw magnetometer'''
    import mavutil
    self = mavutil.mavfile_global

    m = SERVO_OUTPUT_RAW
    motor_pwm = m.servo1_raw + m.servo2_raw + m.servo3_raw + m.servo4_raw
    motor_pwm *= 0.25
    rc3_min = self.param('RC3_MIN', 1100)
    rc3_max = self.param('RC3_MAX', 1900)
    motor = (motor_pwm - rc3_min) / (rc3_max - rc3_min)
    if motor > 1.0:
        motor = 1.0
    if motor < 0.0:
        motor = 0.0

    motor_offsets0 = motor_ofs[0] * motor
    motor_offsets1 = motor_ofs[1] * motor
    motor_offsets2 = motor_ofs[2] * motor
    ofs = (ofs[0] + motor_offsets0, ofs[1] + motor_offsets1, ofs[2] + motor_offsets2)

    return ofs
def get_motor_offsets ( SERVO_OUTPUT_RAW , ofs , motor_ofs ) : import mavutil self = mavutil . mavfile_global m = SERVO_OUTPUT_RAW motor_pwm = m . servo1_raw + m . servo2_raw + m . servo3_raw + m . servo4_raw motor_pwm *= 0.25 rc3_min = self . param ( 'RC3_MIN' , 1100 ) rc3_max = self . param ( 'RC3_MAX' , 1900 ) motor = ( motor_pwm - rc3_min ) / ( rc3_max - rc3_min ) if motor > 1.0 : motor = 1.0 if motor < 0.0 : motor = 0.0 motor_offsets0 = motor_ofs [ 0 ] * motor motor_offsets1 = motor_ofs [ 1 ] * motor motor_offsets2 = motor_ofs [ 2 ] * motor ofs = ( ofs [ 0 ] + motor_offsets0 , ofs [ 1 ] + motor_offsets1 , ofs [ 2 ] + motor_offsets2 ) return ofs
calculate magnetic field strength from raw magnetometer