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mag calibration: improve 4 and 2 side calibration

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- if less than 6 sides are calibrated, keep the existing calibration and
  update the offsets and scales
- if 2 sides are calibrated, estimate the offsets only (as this is enough
  if a full calibration was done already, and the problem is not
  constrained enough to estimate scales and offsets)
This commit is contained in:
Beat Küng
2019-11-29 14:14:00 -05:00
committed by Daniel Agar
parent 1d78f02733
commit b973b2ca64
5 changed files with 66 additions and 42 deletions
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src/modules/commander/calibration_routines.h
+2 -2
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@@ -58,9 +58,9 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[],
unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z,
float *sphere_radius);
int ellipsoid_fit_least_squares(const float x[], const float y[], const float z[],
unsigned int size, int max_iterations, float delta, float *offset_x, float *offset_y, float *offset_z,
unsigned int size, int max_iterations, float *offset_x, float *offset_y, float *offset_z,
float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y,
float *offdiag_z);
float *offdiag_z, bool sphere_fit_only);
int run_lm_sphere_fit(const float x[], const float y[], const float z[], float &_fitness, float &_sphere_lambda,
unsigned int size, float *offset_x, float *offset_y, float *offset_z,
float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y,