fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-05 00:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

lib/sensor_calibration: handle calibration slot change on parameter update

Browse Source
This commit is contained in:
Daniel Agar
2022-01-10 11:03:11 -05:00
parent ab547bb982
commit cc1fee525a
7 changed files with 44 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/sensor_calibration/Magnetometer.cpp
+9 -6
View File
@@ -135,12 +135,14 @@ void Magnetometer::ParametersUpdate()
return;
}
if (_calibration_index < 0) {
_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
}
_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
if (_calibration_index >= 0) {
ParametersLoad();
}
bool Magnetometer::ParametersLoad()
{
if (_calibration_index >= 0 && _calibration_index < MAX_SENSOR_COUNT) {
// CAL_MAGx_ROT
int32_t rotation_value = GetCalibrationParamInt32(SensorString(), "ROT", _calibration_index);
@@ -196,9 +198,10 @@ void Magnetometer::ParametersUpdate()
// CAL_MAGx_COMP{X,Y,Z}
_power_compensation = GetCalibrationParamsVector3f(SensorString(), "COMP", _calibration_index);
} else {
Reset();
return true;
}
return false;
}
void Magnetometer::Reset()