forked from Archive/PX4-Autopilot
sensors/vehicle_imu: fix SENS_IMU_AUTOCAL saving logic
- on cycles that don't check for updated calibraton (estimated bias) we check if there's anything valid to save (when disarmed)
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4e06b40e2b
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2eec7842ae
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@ -260,13 +260,13 @@ void VehicleIMU::Run()
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}
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if (_param_sens_imu_autocal.get() && !parameters_updated) {
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if (_armed || !_accel_calibration.calibrated() || !_gyro_calibration.calibrated()) {
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if (now_us > _in_flight_calibration_check_timestamp_last + 1_s) {
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if ((_armed || !_accel_calibration.calibrated() || !_gyro_calibration.calibrated())
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&& (now_us > _in_flight_calibration_check_timestamp_last + 1_s)) {
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SensorCalibrationUpdate();
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_in_flight_calibration_check_timestamp_last = now_us;
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}
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} else {
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} else if (!_armed) {
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SensorCalibrationSaveAccel();
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SensorCalibrationSaveGyro();
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}
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@ -785,7 +785,7 @@ void VehicleIMU::SensorCalibrationSaveAccel()
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}
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}
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if (initialised && (cal_orig - offset_estimate).longerThan(0.05f)) {
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if (initialised && ((cal_orig - offset_estimate).longerThan(0.05f) || !_accel_calibration.calibrated())) {
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if (_accel_calibration.set_offset(offset_estimate)) {
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PX4_INFO("%s %d (%" PRIu32 ") offset committed: [%.3f %.3f %.3f]->[%.3f %.3f %.3f])",
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_accel_calibration.SensorString(), _instance, _accel_calibration.device_id(),
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@ -873,7 +873,7 @@ void VehicleIMU::SensorCalibrationSaveGyro()
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}
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}
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if (initialised && (cal_orig - offset_estimate).longerThan(0.01f)) {
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if (initialised && ((cal_orig - offset_estimate).longerThan(0.01f) || !_gyro_calibration.calibrated())) {
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if (_gyro_calibration.set_offset(offset_estimate)) {
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PX4_INFO("%s %d (%" PRIu32 ") offset committed: [%.3f %.3f %.3f]->[%.3f %.3f %.3f])",
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_gyro_calibration.SensorString(), _instance, _gyro_calibration.device_id(),
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