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AP_InertialSensor: Fix parameter name when saving persistent accel cals for Aux IMUs #26624

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Apr 5, 2024
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AP_InertialSensor: Fix parameter name when saving persistent accel cals for Aux IMUs #26624

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2 changes: 1 addition & 1 deletion libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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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@joshanne joshanne Mar 26, 2024 •
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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

const Vector3f &aoff = params[i]._accel_offset.get();
const Vector3f &ascl = params[i]._accel_scale.get();
str.printf("INS%u_ACC_ID=%u\n", imu, unsigned(params[i]._accel_id.get()));
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