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sensor_calibration: respect board rotation even if uncalibrated

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- fixes https://github.com/PX4/PX4-Autopilot/issues/16873
This commit is contained in:
Daniel Agar 2021-02-22 12:33:40 -05:00 committed by Mathieu Bresciani
parent e2563388eb
commit 69bd3ecf95
3 changed files with 24 additions and 6 deletions
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10
src/lib/sensor_calibration/Accelerometer.cpp
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@ -220,8 +220,14 @@ void Accelerometer::ParametersUpdate()
void Accelerometer::Reset()
{
_rotation.setIdentity();
_rotation_enum = ROTATION_NONE;
if (_external) {
set_rotation(ROTATION_NONE);
} else {
// internal sensors follow board rotation
set_rotation(GetBoardRotation());
}
_offset.zero();
_scale = Vector3f{1.f, 1.f, 1.f};
_thermal_offset.zero();

10
src/lib/sensor_calibration/Gyroscope.cpp
View File

@ -205,8 +205,14 @@ void Gyroscope::ParametersUpdate()
void Gyroscope::Reset()
{
_rotation.setIdentity();
_rotation_enum = ROTATION_NONE;
if (_external) {
set_rotation(ROTATION_NONE);
} else {
// internal sensors follow board rotation
set_rotation(GetBoardRotation());
}
_offset.zero();
_thermal_offset.zero();

10
src/lib/sensor_calibration/Magnetometer.cpp
View File

@ -207,8 +207,14 @@ void Magnetometer::ParametersUpdate()
void Magnetometer::Reset()
{
_rotation.setIdentity();
_rotation_enum = ROTATION_NONE;
if (_external) {
set_rotation(ROTATION_NONE);
} else {
// internal sensors follow board rotation
set_rotation(GetBoardRotation());
}
_offset.zero();
_scale.setIdentity();