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enable gyro_calibration for CAN nodes

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- allow saving initial gyro cal if very close to 0
This commit is contained in:
Daniel Agar
2022-06-17 15:12:27 -04:00
parent db4e09d529
commit 10deb7019e
7 changed files with 24 additions and 6 deletions
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src/lib/sensor_calibration/Gyroscope.cpp
+1 -1
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@@ -110,7 +110,7 @@ void Gyroscope::SensorCorrectionsUpdate(bool force)
bool Gyroscope::set_offset(const Vector3f &offset)
{
if (Vector3f(_offset - offset).longerThan(0.01f)) {
if (Vector3f(_offset - offset).longerThan(0.01f) || (_calibration_count == 0)) {
if (PX4_ISFINITE(offset(0)) && PX4_ISFINITE(offset(1)) && PX4_ISFINITE(offset(2))) {
_offset = offset;
_calibration_count++;
src/modules/gyro_calibration/CMakeLists.txt
+2 -1
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@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
# Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -41,4 +41,5 @@ px4_add_module(
GyroCalibration.hpp
DEPENDS
px4_work_queue
sensor_calibration
)
src/modules/gyro_calibration/GyroCalibration.cpp
+2 -2
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -245,7 +245,7 @@ void GyroCalibration::Run()
const Vector3f old_offset{_gyro_calibration[gyro].offset()};
if (_gyro_calibration[gyro].set_offset(_gyro_mean[gyro].mean())) {
if (_gyro_calibration[gyro].set_offset(_gyro_mean[gyro].mean()) || !_gyro_calibration[gyro].calibrated()) {
calibration_updated = true;
src/modules/gyro_calibration/GyroCalibration.hpp
+1 -1
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions