8fbf79527f
magnetometer allow setting initial calibration from bias if available and stable
2021-12-01 20:24:56 -05:00
bd8937642f
lib/sensor_calibration: only warn if external rotation resetting
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- this also happens with the actual default parameter value (-1)
2021-09-01 15:16:00 -04:00
c4b91c8558
calibration params: avoid using NaN as default
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- NaN is not supported by JSON, and leads to parsing failure in QGC.
- fixes https://github.com/PX4/PX4-Autopilot/issues/18095
2021-08-19 11:29:26 -04:00
ff39e27e2d
sensor calibration: save temperature at calibration time for monitoring
2021-08-15 11:19:24 -04:00
9c87766021
sensor_calibration:Use inttytpes
2021-06-16 17:07:47 +02:00
4f850c7cd0
sensors: preserve all valid calibration parameters even if sensor currently missing
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- mark calibration slots active for first N sensors found
- calibration procedure don't bother resetting unused slots
2021-06-07 08:50:32 -04:00
bd1c575ce8
lib/sensor_calibration: add simple offset and scale sanity checks
2021-03-09 09:27:21 -05:00
e38560b928
sensor_calibration: increase threshold for updating calibration offsets or scale
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- this is to minimize needlessly writing negligible parameter changes and triggering unnecessary estimator bias resets
2021-02-23 13:32:00 -05:00
69bd3ecf95
sensor_calibration: respect board rotation even if uncalibrated
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- fixes https://github.com/PX4/PX4-Autopilot/issues/16873
2021-02-23 15:24:14 +01:00
88f8da27ef
save learned mag bias per sensor (Multi-EKF support)
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- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
- this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
- ekf2 reset mag mag bias on any magnetometer or calibration change
- use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor
Co-authored-by: Paul Riseborough <gncsolns@gmail.com >
2021-01-07 09:54:13 -05:00
d14b4221f1
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
2020-11-12 10:37:30 -05:00
12ab762adc
sensor_calibration: silence error if priority is -1 (uninitialized parameter value)
2020-09-16 12:32:40 -04:00
c41f053c7b
vehicle_imu/vehicle_magnetometer add calibration indicator to message
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- vehicle_imu/vehicle_magnetometer add monotonically increasing `calibration_count` field so that downstream subscribers are aware of calibration changes
2020-09-15 13:12:57 -04:00
13db2ebb2b
accel/gyro/mag calibration set default priority uninitialized
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- this allows the default priority to be set differently for internal/external sensors
- accel and gyro initialize default priority like mag in preparation for fully supporting external sensors
- fixes #15652
2020-09-13 21:02:53 -04:00
04214a347e
lib/sensor_calibration: check param save success and comment helpers
2020-09-13 21:00:40 -04:00
ea13bf271d
lib/sensor_calibration: Magnetometer catch and fix invalid rotations
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- improve status print
2020-08-21 10:12:13 -04:00
27f23ac290
move initial sensor priority to parameters and purge ORB_PRIORITY
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- CAL_ACCx_EN -> CAL_ACCx_PRIO
- CAL_GYROx_EN -> CAL_GYROx_PRIO
- CAL_MAGx_EN -> CAL_MAGx_PRIO
2020-08-21 10:12:13 -04:00
1867e540b0
lib/sensor_calibration: add Magnetometer helper
2020-08-21 10:12:13 -04:00
Daniel Agar