fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 03:27:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: properly reset IMU biases on calibration change (non-multi-EKF)

Browse Source 
- this was working in the multi-EKF case using vehicle_imu, but missing
in sensor_combined
This commit is contained in:
Daniel Agar
2022-04-10 11:07:01 -04:00
parent 8f891332f1
commit bb2ea574aa
3 changed files with 29 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/sensor_combined.msg
+3
View File
@@ -18,3 +18,6 @@ uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4
uint8 accelerometer_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the sampling period
uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.