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save learned mag bias per sensor (Multi-EKF support)

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- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
 - this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
 - ekf2 reset mag mag bias on any magnetometer or calibration change
 - use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
This commit is contained in:
Daniel Agar
2021-01-07 09:54:13 -05:00
committed by GitHub
co-authored by Paul Riseborough
parent 537ee5b19b
commit 88f8da27ef
17 changed files with 328 additions and 308 deletions
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src/lib/sensor_calibration/Accelerometer.hpp
+4 -2
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@@ -62,17 +62,19 @@ public:
void set_calibration_index(uint8_t calibration_index) { _calibration_index = calibration_index; }
void set_device_id(uint32_t device_id, bool external = false);
void set_external(bool external = true);
void set_offset(const matrix::Vector3f &offset) { _offset = offset; }
void set_scale(const matrix::Vector3f &scale) { _scale = scale; }
bool set_offset(const matrix::Vector3f &offset);
bool set_scale(const matrix::Vector3f &scale);
void set_rotation(Rotation rotation);
uint8_t calibration_count() const { return _calibration_count; }
uint32_t device_id() const { return _device_id; }
bool enabled() const { return (_priority > 0); }
bool external() const { return _external; }
const matrix::Vector3f &offset() const { return _offset; }
const int32_t &priority() const { return _priority; }
const matrix::Dcmf &rotation() const { return _rotation; }
const Rotation &rotation_enum() const { return _rotation_enum; }
const matrix::Vector3f &scale() const { return _scale; }
// apply offsets and scale
// rotate corrected measurements from sensor to body frame