Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: added parameter for compass calibration fitness threshold

This commit is contained in:
Andrew Tridgell 2015-09-14 17:01:14 +10:00
parent eea54c9e09
commit fa9ff5b604
3 changed files with 12 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Compass/AP_Compass_Calibration.cpp
View File

@ -47,9 +47,9 @@ Compass::start_calibration(uint8_t i, bool retry, bool autosave, float delay, bo
AP_Notify::events.initiated_compass_cal = 1;
}
if (i == get_primary()) {
_calibrator[i].set_tolerance(8);
_calibrator[i].set_tolerance(_calibration_threshold);
} else {
_calibrator[i].set_tolerance(16);
_calibrator[i].set_tolerance(_calibration_threshold*2);
}
_calibrator[i].start(retry, autosave, delay);
_compass_cal_autoreboot = autoreboot;

8
libraries/AP_Compass/Compass.cpp
View File

@ -365,6 +365,14 @@ const AP_Param::GroupInfo Compass::var_info[] PROGMEM = {
AP_GROUPINFO("ODI3", 29, Compass, _state[2].offdiagonals, 0),
#endif
// @Param: CAL_FIT
// @DisplayName: Compass calibration fitness
// @Description: This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.
// @Range: 4 20
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("CAL_FIT", 30, Compass, _calibration_threshold, 8.0f),
AP_GROUPEND
};

2
libraries/AP_Compass/Compass.h
View File

@ -406,6 +406,8 @@ private:
// if we want HIL only
bool _hil_mode:1;
AP_Float _calibration_threshold;
};
#include "AP_Compass_Backend.h"