Allow full compass calibration with location sources other than GPS #27409
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
approved these changes
Jul 2, 2024
tridge
requested changes
Jul 2, 2024
| @@ -1065,14 +1065,15 @@ bool CompassCalibrator::calculate_orientation(void) | |||
| */ | |||
| bool CompassCalibrator::fix_radius(void) | |||
| { | |||
| if (AP::gps().status() < AP_GPS::GPS_OK_FIX_2D) { | |||
| Location loc; | |||
| if (!AP::ahrs().get_location(loc)) { | |||
There was a problem hiding this comment.
i think we need to accept either AHRS location or GPS location, so lack of healthy compass doesn't prevent compass calibration to fix the issue
There was a problem hiding this comment.
could also do AP::ahrs().get_origin()
rmackay9
reviewed
Jul 2, 2024
| if (AP::gps().status() < AP_GPS::GPS_OK_FIX_2D) { | ||
| Location loc; | ||
| if (!AP::ahrs().get_location(loc)) { | ||
| gcs().send_text(MAV_SEVERITY_WARNING, "MagCal: No location, fix_radius skipped"); |
There was a problem hiding this comment.
We should probably use GCS_SEND_TEXT and I think we should check the prefix is consistent with other text messages from this library.
Williangalvani
force-pushed
the
fix_radius_with_no_gps
branch
from
f5ec99a to
8ece859
Compare
tridge
approved these changes
Jul 9, 2024
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Outdated suggestions cannot be applied.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.
Not having a GPS connected currently causes compass calibration to skip the fix_radius step, which prevents using the WMM in the ekf.
I also added a warning so users can know something is wrong.
this is a step towards fix #18229, and is extracted from #26506