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mag_cal: fix mag bias estimate to mag cal

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- since last_us is set to 0 every time the bias is not observable, the
  total time was also reset -> needed 30 consecutive seconds in mag 3D
  to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
  bias validity makes it invalid before we have a chance to save it to
  the calibration.
This commit is contained in:
bresch
2023-07-11 11:33:53 -04:00
committed by Daniel Agar
parent 69aa8689c0
commit 2f52926972
3 changed files with 6 additions and 5 deletions
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src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+1 -1
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@@ -329,7 +329,7 @@ void VehicleMagnetometer::UpdateMagCalibration()
if (_calibration[mag_index].set_offset(mag_cal_offset)) {
PX4_INFO("%d (%" PRIu32 ") EST:%d offset: [%.2f, %.2f, %.2f]->[%.2f, %.2f, %.2f] (full [%.3f, %.3f, %.3f])",
PX4_INFO("%d (%" PRIu32 ") EST:%d offset: [%.3f, %.3f, %.3f]->[%.3f, %.3f, %.3f] (full [%.3f, %.3f, %.3f])",
mag_index, _calibration[mag_index].device_id(), i,
(double)mag_cal_orig(0), (double)mag_cal_orig(1), (double)mag_cal_orig(2),
(double)mag_cal_offset(0), (double)mag_cal_offset(1), (double)mag_cal_offset(2),