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Allow full compass calibration with location sources other than GPS #27409

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merged 2 commits into from
Jul 9, 2024
Merged

Allow full compass calibration with location sources other than GPS #27409

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22425ba
AP_Compass: use ahrs for location instead of GPS directly for calibra…
Williangalvani Jul 2, 2024
8ece859
AP_Compass: warn user if fix_radius() is skipped
Williangalvani Jul 2, 2024
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5 changes: 3 additions & 2 deletions libraries/AP_Compass/CompassCalibrator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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) && !AP::ahrs().get_origin(loc)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "MagCal: No location, fix_radius skipped");
// we don't have a position, leave scale factor as 0. This
// will disable use of WMM in the EKF. Users can manually set
// scale factor after calibration if it is known
_params.scale_factor = 0;
return true;
}
const Location &loc = AP::gps().location();
float intensity;
float declination;
float inclination;
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