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magnetometer allow setting initial calibration from bias if available and stable

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This commit is contained in:
Daniel Agar
2021-12-01 20:24:56 -05:00
parent b7efd4f947
commit 8fbf79527f
6 changed files with 316 additions and 208 deletions
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src/lib/sensor_calibration/Magnetometer.cpp
+5 -5
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@@ -60,10 +60,6 @@ void Magnetometer::set_device_id(uint32_t device_id, bool external)
set_external(external);
_device_id = device_id;
if (_device_id != 0) {
_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
}
ParametersUpdate();
}
}
@@ -151,6 +147,10 @@ void Magnetometer::set_rotation(Rotation rotation)
void Magnetometer::ParametersUpdate()
{
if (_device_id != 0) {
_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
}
if (_calibration_index >= 0) {
// CAL_MAGx_ROT
@@ -287,7 +287,7 @@ void Magnetometer::PrintStatus()
{
if (external()) {
PX4_INFO("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, External ROT: %d",
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),