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Code Issues Releases Activity

LP-590 Zero BoardLevelTrim values while doing GyroBias calibration

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This commit is contained in:
Laurent Lalanne 2018-04-04 02:01:57 +02:00
parent 1ab7956c1a
commit 9fcebfe2c9
1 changed files with 7 additions and 3 deletions
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10
ground/gcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp
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@ -69,9 +69,13 @@ void GyroBiasCalibrationModel::start()
// Disable gyro bias correction while calibrating
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
// Zero board rotation
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = 0;
// Zero board level trim
attitudeSettingsData.BoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_ROLL] = 0;
attitudeSettingsData.BoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_PITCH] = 0;
attitudeSettings->setData(attitudeSettingsData);
UAVObject::Metadata gyroStateMetadata = gyroState->getMetadata();