AP_InertialSensor: Fix parameter name when saving persistent accel cals for Aux IMUs #26624
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…ls for Aux IMUs Without this change, you get: * IMU_ACCOFFS_* * IMU_ACC2OFFS_* * IMU_ACC3OFFS_* * IMU3_ACCOFFS_* After this change, you get: * IMU_ACCOFFS_* * IMU_ACC2OFFS_* * IMU_ACC3OFFS_* * IMU4_ACCOFFS_*
joshanne
commented
Mar 26, 2024
| @@ -517,7 +517,7 @@ void AP_InertialSensor::get_persistent_params(ExpandingString &str) const | |||
| } | |||
| #if INS_AUX_INSTANCES | |||
| for (uint8_t i=0; i<INS_AUX_INSTANCES; i++) { | |||
| const uint8_t imu = i+(INS_MAX_INSTANCES-INS_AUX_INSTANCES); | |||
| const uint8_t imu = i+(INS_MAX_INSTANCES-INS_AUX_INSTANCES)+1; | |||
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We already correctly account for the imu offset for the base first 3 IMUs just above:
We add the offset here for aux IMUs
tridge
approved these changes
Mar 27, 2024
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Saving Persistent Accel cals for Aux IMUs resulted in a duplicate instance and that parameter does not exist.
Without this change, you get:
After this change, you get: