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sensors/vehicle_imu: fix SENS_IMU_AUTOCAL saving logic

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- on cycles that don't check for updated calibraton (estimated bias) we
check if there's anything valid to save (when disarmed)
This commit is contained in:
Daniel Agar
2022-01-11 11:47:02 -05:00
parent 4e06b40e2b
commit 2eec7842ae
1 changed files with 8 additions and 8 deletions
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src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+8 -8
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@@ -260,13 +260,13 @@ void VehicleIMU::Run()
}
if (_param_sens_imu_autocal.get() && !parameters_updated) {
if (_armed || !_accel_calibration.calibrated() || !_gyro_calibration.calibrated()) {
if (now_us > _in_flight_calibration_check_timestamp_last + 1_s) {
SensorCalibrationUpdate();
_in_flight_calibration_check_timestamp_last = now_us;
}
if ((_armed || !_accel_calibration.calibrated() || !_gyro_calibration.calibrated())
&& (now_us > _in_flight_calibration_check_timestamp_last + 1_s)) {
} else {
SensorCalibrationUpdate();
_in_flight_calibration_check_timestamp_last = now_us;
} else if (!_armed) {
SensorCalibrationSaveAccel();
SensorCalibrationSaveGyro();
}
@@ -785,7 +785,7 @@ void VehicleIMU::SensorCalibrationSaveAccel()
}
}
if (initialised && (cal_orig - offset_estimate).longerThan(0.05f)) {
if (initialised && ((cal_orig - offset_estimate).longerThan(0.05f) || !_accel_calibration.calibrated())) {
if (_accel_calibration.set_offset(offset_estimate)) {
PX4_INFO("%s %d (%" PRIu32 ") offset committed: [%.3f %.3f %.3f]->[%.3f %.3f %.3f])",
_accel_calibration.SensorString(), _instance, _accel_calibration.device_id(),
@@ -873,7 +873,7 @@ void VehicleIMU::SensorCalibrationSaveGyro()
}
}
if (initialised && (cal_orig - offset_estimate).longerThan(0.01f)) {
if (initialised && ((cal_orig - offset_estimate).longerThan(0.01f) || !_gyro_calibration.calibrated())) {
if (_gyro_calibration.set_offset(offset_estimate)) {
PX4_INFO("%s %d (%" PRIu32 ") offset committed: [%.3f %.3f %.3f]->[%.3f %.3f %.3f])",
_gyro_calibration.SensorString(), _instance, _gyro_calibration.device_id(),