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vehicle_magnetometer: fix standalone mag bias est factored into in flight mag cal

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- preflight mag bias estimate is in the vehicle body frame and removed from the raw mag data after it's rotated, calibrated, etc
 - in flight mag bias (from ekf2) is in the vehicle body frame, but stored as a sensor frame offset immediately
This commit is contained in:
Daniel Agar
2022-11-07 09:31:17 -05:00
committed by GitHub
parent a9542baf3c
commit 4190353192
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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@@ -280,9 +280,8 @@ void VehicleMagnetometer::UpdateMagCalibration()
_mag_cal[i].device_id = estimator_sensor_bias.mag_device_id; _mag_cal[i].device_id = estimator_sensor_bias.mag_device_id;
// readd estimated bias that was removed before publishing vehicle_magnetometer // readd estimated bias that was removed before publishing vehicle_magnetometer (_calibration_estimator_bias)
_mag_cal[i].offset = _calibration[mag_index].BiasCorrectedSensorOffset(bias) + _mag_cal[i].offset = _calibration[mag_index].BiasCorrectedSensorOffset(bias + _calibration_estimator_bias[mag_index]);
_calibration_estimator_bias[mag_index];
_mag_cal[i].variance = bias_variance; _mag_cal[i].variance = bias_variance;