rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-03-21 13:28:58 +01:00
Code Issues Releases Activity

Disable offset nulling while performing GCS mag calibration.

Browse Source
This commit is contained in:
James Cotton 2012-07-25 11:26:37 -05:00
parent c587ceebfd
commit 41f80eb34f
2 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
View File

@ -535,6 +535,10 @@ void ConfigRevoWidget::doStartSixPointCalibration()
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = 0;
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = 0;
// Disable adaptive mag nulling
initialMagCorrectionRate = revoCalibrationData.MagBiasNullingRate;
revoCalibrationData.MagBiasNullingRate = 0;
revoCalibration->setData(revoCalibrationData);
Thread::usleep(100000);
@ -740,6 +744,8 @@ void ConfigRevoWidget::computeScaleBias()
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = -sign(S[1]) * b[1];
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = -sign(S[2]) * b[2];
// Restore the previous setting
revoCalibrationData.MagBiasNullingRate = initialMagCorrectionRate;
#ifdef SIX_POINT_CAL_ACCEL
bool good_calibration = true;

1
ground/openpilotgcs/src/plugins/config/configrevowidget.h
View File

@ -95,6 +95,7 @@ private:
UAVObject::Metadata initialGyrosMdata;
UAVObject::Metadata initialMagMdata;
UAVObject::Metadata initialBaroMdata;
float initialMagCorrectionRate;
int position;