AP_Compass: magcal keeps soft iron matrix + scale bugfix #27107
+41
−24
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
tridge
requested changes
May 21, 2024
Or an option in the mavlink command to retain the diags/off-diags |
magicrub
reviewed
May 21, 2024
| field -= get_offsets(instance); | ||
| uncorrected_field -= get_offsets(instance); | ||
|
|
||
| new_offsets = mat_inv*truth_field*1.0f/scale - uncorrected_field; |
There was a problem hiding this comment.
scale needs divide by zero check
|
I agree with @tridge . Needs to be an options bit, default off. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This patch changes the large vehicle compass calibration so that it keeps the soft-iron calibration matrix and the scale. This way, the user can perform a full compass calibration on a subsystem of the vehicle, without losing it when a large vehicle cal is performed.
It also fixes a bug: large vehicle compass calibration currently does not respect the scale parameter. It needs to either incorporate it into the math or reset it to 1.
Why was the scale param added when the diagonals already exist? Seems like something that can be removed.