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ekf2: move mag calibration to UpdateMagCalibration()

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This commit is contained in:
Daniel Agar
2020-11-11 20:17:52 -05:00
parent 96178a6fb0
commit f4f3ba47a2
2 changed files with 110 additions and 122 deletions
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src/modules/ekf2/EKF2.hpp
+3 -4
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@@ -131,9 +131,6 @@ private:
template<typename Param>
void update_mag_bias(Param &mag_bias_param, int axis_index);
template<typename Param>
bool update_mag_decl(Param &mag_decl_param);
void PublishAttitude(const hrt_abstime &timestamp);
void PublishEkfDriftMetrics(const hrt_abstime &timestamp);
void PublishGlobalPosition(const hrt_abstime &timestamp);
@@ -149,6 +146,8 @@ private:
void PublishWindEstimate(const hrt_abstime &timestamp);
void PublishYawEstimatorStatus(const hrt_abstime &timestamp);
void UpdateMagCalibration(const hrt_abstime &timestamp);
/*
* Calculate filtered WGS84 height from estimated AMSL height
*/
@@ -177,8 +176,8 @@ private:
hrt_abstime _total_cal_time_us = 0; ///< accumulated calibration time since the last save
float _last_valid_mag_cal[3] = {}; ///< last valid XYZ magnetometer bias estimates (Gauss)
bool _valid_cal_available[3] = {}; ///< true when an unsaved valid calibration for the XYZ magnetometer bias is available
float _last_valid_variance[3] = {}; ///< variances for the last valid magnetometer XYZ bias estimates (Gauss**2)
bool _valid_cal_available{false}; ///< true when an unsaved valid calibration for the XYZ magnetometer bias is available
// Used to control saving of mag declination to be used on next startup
bool _mag_decl_saved = false; ///< true when the magnetic declination has been saved