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lib/sensor_calibration: handle calibration slot change on parameter update

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This commit is contained in:
Daniel Agar
2022-01-10 17:16:50 -05:00
parent ab547bb982
commit cc1fee525a
7 changed files with 44 additions and 26 deletions
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src/lib/sensor_calibration/Gyroscope.cpp
+9 -6
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@@ -135,12 +135,14 @@ void Gyroscope::ParametersUpdate()
return;
}
if (_calibration_index < 0) {
_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
}
_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
if (_calibration_index >= 0) {
ParametersLoad();
}
bool Gyroscope::ParametersLoad()
{
if (_calibration_index >= 0 && _calibration_index < MAX_SENSOR_COUNT) {
// CAL_GYROx_ROT
int32_t rotation_value = GetCalibrationParamInt32(SensorString(), "ROT", _calibration_index);
@@ -187,9 +189,10 @@ void Gyroscope::ParametersUpdate()
// CAL_GYROx_OFF{X,Y,Z}
set_offset(GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index));
} else {
Reset();
return true;
}
return false;
}
void Gyroscope::Reset()