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sensors: preserve all valid calibration parameters even if sensor currently missing

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- mark calibration slots active for first N sensors found
 - calibration procedure don't bother resetting unused slots
This commit is contained in:
Daniel Agar
2021-06-07 08:50:32 -04:00
parent 2ccd86102b
commit 4f850c7cd0
7 changed files with 125 additions and 63 deletions
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src/lib/sensor_calibration/Accelerometer.cpp
+6 -7
View File
@@ -59,6 +59,11 @@ void Accelerometer::set_device_id(uint32_t device_id, bool external)
if (_device_id != device_id || _external != external) {
set_external(external);
_device_id = device_id;
if (_device_id != 0) {
_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
}
ParametersUpdate();
SensorCorrectionsUpdate(true);
}
@@ -161,13 +166,6 @@ void Accelerometer::set_rotation(Rotation rotation)
void Accelerometer::ParametersUpdate()
{
if (_device_id == 0) {
Reset();
return;
}
_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
if (_calibration_index >= 0) {
// CAL_ACCx_ROT
@@ -234,6 +232,7 @@ void Accelerometer::Reset()
_offset.zero();
_scale = Vector3f{1.f, 1.f, 1.f};
_thermal_offset.zero();
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
src/lib/sensor_calibration/Gyroscope.cpp
+6 -7
View File
@@ -59,6 +59,11 @@ void Gyroscope::set_device_id(uint32_t device_id, bool external)
if (_device_id != device_id || _external != external) {
set_external(external);
_device_id = device_id;
if (_device_id != 0) {
_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
}
ParametersUpdate();
SensorCorrectionsUpdate(true);
}
@@ -146,13 +151,6 @@ void Gyroscope::set_rotation(Rotation rotation)
void Gyroscope::ParametersUpdate()
{
if (_device_id == 0) {
Reset();
return;
}
_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
if (_calibration_index >= 0) {
// CAL_GYROx_ROT
@@ -215,6 +213,7 @@ void Gyroscope::Reset()
}
_offset.zero();
_thermal_offset.zero();
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
src/lib/sensor_calibration/Magnetometer.cpp
+5 -7
View File
@@ -59,6 +59,11 @@ void Magnetometer::set_device_id(uint32_t device_id, bool external)
if (_device_id != device_id || _external != external) {
set_external(external);
_device_id = device_id;
if (_device_id != 0) {
_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
}
ParametersUpdate();
}
}
@@ -146,13 +151,6 @@ void Magnetometer::set_rotation(Rotation rotation)
void Magnetometer::ParametersUpdate()
{
if (_device_id == 0) {
Reset();
return;
}
_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
if (_calibration_index >= 0) {
// CAL_MAGx_ROT