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sensors: magnetometer preserve original mag cal offset for status message

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This commit is contained in:
Daniel Agar
2021-01-26 16:04:10 -05:00
parent 15cbe8c09a
commit 3b26b7adaf
1 changed files with 2 additions and 3 deletions
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src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+2 -3
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@@ -190,6 +190,7 @@ void VehicleMagnetometer::MagCalibrationUpdate()
for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
if ((_calibration[mag_index].device_id() != 0) && (_mag_cal[i].device_id == _calibration[mag_index].device_id())) {
const Vector3f mag_cal_orig{_calibration[mag_index].offset()};
Vector3f mag_cal_offset{_calibration[mag_index].offset()};
// calculate weighting using ratio of variances and update stored bias values
@@ -208,9 +209,7 @@ void VehicleMagnetometer::MagCalibrationUpdate()
PX4_INFO("%d (%d) EST:%d offset committed: [%.2f %.2f %.2f]->[%.2f %.2f %.2f] (full [%.2f %.2f %.2f])",
mag_index, _calibration[mag_index].device_id(), i,
(double)_calibration[mag_index].offset()(0),
(double)_calibration[mag_index].offset()(1),
(double)_calibration[mag_index].offset()(2),
(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),
(double)_mag_cal[i].mag_offset(0), (double)_mag_cal[i].mag_offset(1), (double)_mag_cal[i].mag_offset(2));