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Code Issues Releases Activity

OP-1406 - Reenable mag offset estimation for onboard mag only right now

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This commit is contained in:
Alessio Morale 2014-08-03 11:41:25 +02:00
parent 84758a6731
commit 83a3822798
1 changed files with 5 additions and 6 deletions
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11
flight/modules/StateEstimation/filtermag.c
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@ -63,7 +63,7 @@ struct data {
static int32_t init(stateFilter *self);
static filterResult filter(stateFilter *self, stateEstimation *state);
static bool checkMagValidity(struct data *this, float error, bool setAlarms);
// static void magOffsetEstimation(struct data *this, float mag[3]);
static void magOffsetEstimation(struct data *this, float mag[3]);
static float getMagError(struct data *this, float mag[3]);
int32_t filterMagInitialize(stateFilter *handle)
@ -118,10 +118,10 @@ static filterResult filter(stateFilter *self, stateEstimation *state)
if ((this->auxMagUsage != AUXMAGSETTINGS_USAGE_AUXONLY) &&
IS_SET(state->updated, SENSORUPDATES_boardMag)) {
// TODO!
/*if (this->revoCalibration.MagBiasNullingRate > 0) {
// TODO:mag Offset estimation works with onboard mag only right now.
if (this->revoCalibration.MagBiasNullingRate > 0) {
magOffsetEstimation(this, state->boardMag);
}*/
}
boardMagError = getMagError(this, state->boardMag);
// sets warning only if no mag data are available (aux is invalid or missing)
bool boardMagValid = checkMagValidity(this, boardMagError, (temp_status == MAGSTATUS_INVALID));
@ -204,7 +204,7 @@ static float getMagError(struct data *this, float mag[3])
return error;
}
#if 0
/**
* Perform an update of the @ref MagBias based on
* Magmeter Offset Cancellation: Theory and Implementation,
@ -301,7 +301,6 @@ void magOffsetEstimation(struct data *this, float mag[3])
#endif // if 0
}
#endif /* if 0 */
/**
* @}
* @}