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Mag cal: automatically disable internal mags if external ones are available

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This commit is contained in:
bresch
2025-02-14 16:12:20 +01:00
committed by Mathieu Bresciani
parent 430be08131
commit e3fd50667d
3 changed files with 33 additions and 0 deletions
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src/modules/commander/mag_calibration.cpp
+14
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@@ -903,6 +903,15 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
bool param_save = false;
bool failed = true;
bool external_mag_available = false;
for (unsigned cur_mag = 0; cur_mag < MAX_MAGS; cur_mag++) {
if (worker_data.calibration[cur_mag].external() && worker_data.calibration[cur_mag].enabled()) {
external_mag_available = true;
break;
}
}
for (unsigned cur_mag = 0; cur_mag < MAX_MAGS; cur_mag++) {
calibration::Magnetometer &current_cal = worker_data.calibration[cur_mag];
@@ -921,6 +930,11 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
current_cal.set_offdiagonal(offdiag[cur_mag]);
}
if (external_mag_available && !current_cal.external()) {
// automatically disable the internal mags as they should not be used for navigation
current_cal.disable();
}
current_cal.PrintStatus();
if (current_cal.ParametersSave(cur_mag, true)) {