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sensors/vehicle_imu: on calibration change don't resume in flight calibration learning immediately

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This commit is contained in:
Daniel Agar 2022-01-17 21:32:47 -05:00
parent ece09064c4
commit 548b7d5ece
2 changed files with 10 additions and 4 deletions
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8
src/modules/sensors/vehicle_imu/VehicleIMU.cpp
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@ -128,7 +128,7 @@ bool VehicleIMU::ParametersUpdate(bool force)
if (accel_calibration_count != _accel_calibration.calibration_count()) {
// if calibration changed reset any existing learned calibration
_accel_cal_available = false;
_in_flight_calibration_check_timestamp_last = hrt_absolute_time();
_in_flight_calibration_check_timestamp_last = hrt_absolute_time() + INFLIGHT_CALIBRATION_QUIET_PERIOD_US;
for (auto &learned_cal : _accel_learned_calibration) {
learned_cal = {};
@ -138,7 +138,7 @@ bool VehicleIMU::ParametersUpdate(bool force)
if (gyro_calibration_count != _gyro_calibration.calibration_count()) {
// if calibration changed reset any existing learned calibration
_gyro_cal_available = false;
_in_flight_calibration_check_timestamp_last = hrt_absolute_time();
_in_flight_calibration_check_timestamp_last = hrt_absolute_time() + INFLIGHT_CALIBRATION_QUIET_PERIOD_US;
for (auto &learned_cal : _gyro_learned_calibration) {
learned_cal = {};
@ -797,6 +797,8 @@ void VehicleIMU::SensorCalibrationSaveAccel()
if (_accel_calibration.ParametersSave(_sensor_accel_sub.get_instance())) {
param_notify_changes();
}
_in_flight_calibration_check_timestamp_last = hrt_absolute_time() + INFLIGHT_CALIBRATION_QUIET_PERIOD_US;
}
}
@ -847,6 +849,8 @@ void VehicleIMU::SensorCalibrationSaveGyro()
if (_gyro_calibration.ParametersSave(_sensor_gyro_sub.get_instance())) {
param_notify_changes();
}
_in_flight_calibration_check_timestamp_last = hrt_absolute_time() + INFLIGHT_CALIBRATION_QUIET_PERIOD_US;
}
}

6
src/modules/sensors/vehicle_imu/VehicleIMU.hpp
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@ -116,8 +116,6 @@ private:
hrt_abstime _gyro_timestamp_sample_last{0};
hrt_abstime _gyro_timestamp_last{0};
hrt_abstime _in_flight_calibration_check_timestamp_last{0};
math::WelfordMean<matrix::Vector3f> _raw_accel_mean{};
math::WelfordMean<matrix::Vector3f> _raw_gyro_mean{};
@ -175,6 +173,10 @@ private:
InFlightCalibration _accel_learned_calibration[ORB_MULTI_MAX_INSTANCES] {};
InFlightCalibration _gyro_learned_calibration[ORB_MULTI_MAX_INSTANCES] {};
static constexpr hrt_abstime INFLIGHT_CALIBRATION_QUIET_PERIOD_US{30_s};
hrt_abstime _in_flight_calibration_check_timestamp_last{0};
perf_counter_t _accel_generation_gap_perf{perf_alloc(PC_COUNT, MODULE_NAME": accel data gap")};
perf_counter_t _gyro_generation_gap_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro data gap")};