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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 19:31:45 -04:00
parent db4e09d529
commit 10deb7019e
7 changed files with 24 additions and 6 deletions
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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;