Andrew Tridgell
1ddc21c9bb
AP_InertialSensor: support saving tempcal params persistently
2021-01-21 13:09:21 +11:00
Andrew Tridgell
8caea96ab1
AP_InertialSensor: start auto-learning at boot
...
This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
2021-01-21 13:09:21 +11:00
Andrew Tridgell
2e9f61fe49
AP_InertialSensor: fixed IMU index display in msgs
...
start at 1 for users
2021-01-21 13:09:21 +11:00
Andrew Tridgell
30e55d8dfc
AP_InertialSensor: cope with user changing TMAX while calibrating
2021-01-21 13:09:21 +11:00
Andrew Tridgell
e2e97c67ce
AP_InertialSensor: catch user attempt to change TMAX during cal
2021-01-21 13:09:21 +11:00
Andrew Tridgell
3fb720354d
AP_InertialSensor: added notify events for temperature calibration
2021-01-21 13:09:21 +11:00
Andrew Tridgell
cc3579ea5d
AP_InertialSensor: change TCAL sampling to be even in temperature
2021-01-21 13:09:21 +11:00
Andrew Tridgell
fc0f8b990a
AP_InertialSensor: added online learning of temp cal
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use INS_TCAL1_ENABLE=2 to start learning
2021-01-21 13:09:21 +11:00
Andrew Tridgell
4bdf506d10
AP_InertialSensor: apply 1e-5 scale factor
...
this keeps the params in a reasonable range for parameter editors
2021-01-21 13:09:21 +11:00
Andrew Tridgell
0f6f6bac6b
AP_InertialSensor: expose TCal class for use in SITL
2021-01-21 13:09:21 +11:00
Andrew Tridgell
7921e042f1
AP_InertialSensor: added IMU temperature calibration support
...
this adds parameters that can be setup by an external script for
compensating for temperature variation in gyros and accels using a 3rd
order polynomial
2021-01-21 13:09:21 +11:00