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sensors/vehicle_magnetometer: add SENS_MAG_AUTOCAL to enable initial auto cal

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Daniel Agar
2021-12-01 20:24:56 -05:00
parent 8fbf79527f
commit 2190f66096
3 changed files with 15 additions and 2 deletions
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src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+1 -1
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@@ -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) {