fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors/vehicle_magnetometer: add SENS_MAG_AUTOCAL to enable initial auto cal

Browse Source
This commit is contained in:
Daniel Agar 2021-10-18 20:28:44 -04:00
parent 8fbf79527f
commit 2190f66096
3 changed files with 15 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/modules/sensors/sensor_params_mag.c
View File

@ -105,3 +105,15 @@ PARAM_DEFINE_FLOAT(SENS_MAG_RATE, 50.0f);
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_MAG_MODE, 1);
/**
* Magnetometer auto calibration
*
* Automatically initialize magnetometer calibration from bias estimate if available.
*
* @boolean
*
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_MAG_AUTOCAL, 0);

2
src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
View File

@ -183,7 +183,7 @@ void VehicleMagnetometer::UpdateMagBiasEstimate()
_calibration_estimator_bias[mag_index] = bias;
// set initial mag calibration if disarmed, mag uncalibrated, and valid estimated bias available
if (!_armed && mag_bias_est.stable[mag_index]
if (_param_sens_mag_autocal.get() && !_armed && mag_bias_est.stable[mag_index]
&& (_calibration[mag_index].device_id() != 0) && !_calibration[mag_index].calibrated()) {
if (_calibration[mag_index].calibration_index() < 0) {

3
src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp
View File

@ -171,7 +171,8 @@ private:
DEFINE_PARAMETERS(
(ParamInt<px4::params::CAL_MAG_COMP_TYP>) _param_mag_comp_typ,
(ParamBool<px4::params::SENS_MAG_MODE>) _param_sens_mag_mode,
(ParamFloat<px4::params::SENS_MAG_RATE>) _param_sens_mag_rate
(ParamFloat<px4::params::SENS_MAG_RATE>) _param_sens_mag_rate,
(ParamBool<px4::params::SENS_MAG_AUTOCAL>) _param_sens_mag_autocal
)
};
}; // namespace sensors