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commander: mag calibration keep manually configured special rotations

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- ROTATION_PITCH_9_YAW_180 and ROTATION_ROLL_90_PITCH_68_YAW_293 are
kept if manually configured
This commit is contained in:
Daniel Agar
2020-08-18 15:03:39 -04:00
parent 0bb6ad01bd
commit d824706571
1 changed files with 14 additions and 0 deletions
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14
src/modules/commander/mag_calibration.cpp
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@@ -780,6 +780,20 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
#endif // DEBUG_BUILD
if (worker_data.calibration[cur_mag].external()) {
switch (worker_data.calibration[cur_mag].rotation_enum()) {
case ROTATION_ROLL_90_PITCH_68_YAW_293:
// FALLTHROUGH
case ROTATION_PITCH_9_YAW_180:
PX4_INFO("[cal] External Mag: %d (%d), keeping manually configured rotation %d", cur_mag,
worker_data.calibration[cur_mag].device_id(), worker_data.calibration[cur_mag].rotation_enum());
continue;
default:
break;
}
if (smallest_check_passed && total_error_check_passed) {
if (best_rotation != worker_data.calibration[cur_mag].rotation_enum()) {
calibration_log_info(mavlink_log_pub, "[cal] External Mag: %d (%d), determined rotation: %d", cur_mag,