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sensor calibration: apply board level adjustment to external sensors (#16127)

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- apply SENS_BOARD_{X,Y,Z}_OFF to external sensors to prevent unnecessary misalignment with internal IMU
This commit is contained in:
Daniel Agar
2020-11-12 10:37:30 -05:00
committed by GitHub
parent 5f0c572c61
commit d14b4221f1
7 changed files with 58 additions and 24 deletions
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src/modules/commander/accelerometer_calibration.cpp
+2 -2
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@@ -228,7 +228,7 @@ static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS
}
// rotate sensor measurements from sensor to body frame using board rotation matrix
const Dcmf board_rotation = calibration::GetBoardRotation();
const Dcmf board_rotation = calibration::GetBoardRotationMatrix();
for (unsigned s = 0; s < MAX_ACCEL_SENS; s++) {
accel_sum[s] = board_rotation * accel_sum[s];
@@ -362,7 +362,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
if (calibrate_from_orientation(mavlink_log_pub, data_collected, accel_calibration_worker, &worker_data,
false) == calibrate_return_ok) {
const Dcmf board_rotation = calibration::GetBoardRotation();
const Dcmf board_rotation = calibration::GetBoardRotationMatrix();
const Dcmf board_rotation_t = board_rotation.transpose();
bool param_save = false;
src/modules/commander/mag_calibration.cpp
+1 -1
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@@ -680,7 +680,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
// only proceed if there's a valid internal
if (internal_index >= 0) {
const Dcmf board_rotation = calibration::GetBoardRotation();
const Dcmf board_rotation = calibration::GetBoardRotationMatrix();
// apply new calibrations to all raw sensor data before comparison
for (unsigned cur_mag = 0; cur_mag < MAX_MAGS; cur_mag++) {