PX4Accelerometer/PX4Gyroscope: fix calibration offset for integrated FIFO case #14765
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mhkabir
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Apr 26, 2020
nsh> param show CAL_ACC*
Symbols: x = used, + = saved, * = unsaved
x CAL_ACC0_EN [36,62] : 1
x + CAL_ACC0_ID [37,63] : 3670026
x + CAL_ACC0_XOFF [38,64] : -0.0008
x + CAL_ACC0_XSCALE [39,65] : 0.9909
x + CAL_ACC0_YOFF [40,66] : -0.0544
x + CAL_ACC0_YSCALE [41,67] : 1.0108
x + CAL_ACC0_ZOFF [42,68] : -0.0835
x + CAL_ACC0_ZSCALE [43,69] : 1.0101
x CAL_ACC1_EN [44,70] : 1
x + CAL_ACC1_ID [45,71] : 3932170
x + CAL_ACC1_XOFF [46,72] : 0.0770
x + CAL_ACC1_XSCALE [47,73] : 0.9886
x + CAL_ACC1_YOFF [48,74] : 0.1238
x + CAL_ACC1_YSCALE [49,75] : 1.0110
x + CAL_ACC1_ZOFF [50,76] : -0.3014
x + CAL_ACC1_ZSCALE [51,77] : 0.9991
x CAL_ACC2_EN [52,78] : 1
x + CAL_ACC2_ID [53,79] : 4259850
x + CAL_ACC2_XOFF [54,80] : 0.4906
x + CAL_ACC2_XSCALE [55,81] : 0.9741
x + CAL_ACC2_YOFF [56,82] : 0.0353
x + CAL_ACC2_YSCALE [57,83] : 1.0021
x + CAL_ACC2_ZOFF [58,84] : 0.0967
x + CAL_ACC2_ZSCALE [59,85] : 1.0004
x + CAL_ACC_PRIME [60,86] : 3670026
nsh> param show CAL_GYRO*
Symbols: x = used, + = saved, * = unsaved
x CAL_GYRO0_EN [64,90] : 1
x + CAL_GYRO0_ID [65,91] : 3670026
x + CAL_GYRO0_XOFF [66,92] : 0.0051
x + CAL_GYRO0_YOFF [67,93] : -0.0097
x + CAL_GYRO0_ZOFF [68,94] : 0.0045
x CAL_GYRO1_EN [69,95] : 1
x + CAL_GYRO1_ID [70,96] : 3932170
x + CAL_GYRO1_XOFF [71,97] : 0.0144
x + CAL_GYRO1_YOFF [72,98] : 0.0190
x + CAL_GYRO1_ZOFF [73,99] : 0.0018
x CAL_GYRO2_EN [74,100] : 1
x + CAL_GYRO2_ID [75,101] : 4325386
x + CAL_GYRO2_XOFF [76,102] : 0.0040
x + CAL_GYRO2_YOFF [77,103] : 0.0051
x + CAL_GYRO2_ZOFF [78,104] : 0.0016
x + CAL_GYRO_PRIME [79,105] : 3670026
nsh> sensors status
INFO [sensors] gyro status:
INFO [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 100, state: OK
INFO [ecl/validation] val: 0.0046, lp: 0.0053 mean dev: 0.0000 RMS: 0.0010 conf: 1.0000
INFO [ecl/validation] val: -0.0042, lp: -0.0039 mean dev: -0.0000 RMS: 0.0011 conf: 1.0000
INFO [ecl/validation] val: -0.0001, lp: 0.0000 mean dev: 0.0000 RMS: 0.0012 conf: 1.0000
INFO [ecl/validation] sensor #1, prio: 99, state: OK
INFO [ecl/validation] val: -0.0012, lp: -0.0002 mean dev: -0.0000 RMS: 0.0039 conf: 1.0000
INFO [ecl/validation] val: -0.0025, lp: 0.0013 mean dev: 0.0000 RMS: 0.0047 conf: 1.0000
INFO [ecl/validation] val: 0.0025, lp: 0.0002 mean dev: 0.0000 RMS: 0.0029 conf: 1.0000
INFO [ecl/validation] sensor #2, prio: 100, state: OK
INFO [ecl/validation] val: -0.0016, lp: -0.0019 mean dev: 0.0000 RMS: 0.0012 conf: 1.0000
INFO [ecl/validation] val: 0.0067, lp: 0.0067 mean dev: 0.0000 RMS: 0.0013 conf: 1.0000
INFO [ecl/validation] val: -0.0015, lp: -0.0008 mean dev: 0.0000 RMS: 0.0011 conf: 1.0000
INFO [sensors] accel status:
INFO [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 100, state: OK
INFO [ecl/validation] val: -0.0219, lp: -0.0279 mean dev: -0.0001 RMS: 0.0143 conf: 1.0000
INFO [ecl/validation] val: -0.0049, lp: 0.0206 mean dev: -0.0001 RMS: 0.0136 conf: 1.0000
INFO [ecl/validation] val: -9.8618, lp: -9.8686 mean dev: -0.0001 RMS: 0.0107 conf: 1.0000
INFO [ecl/validation] sensor #1, prio: 99, state: OK
INFO [ecl/validation] val: -0.0672, lp: -0.0529 mean dev: -0.0002 RMS: 0.0256 conf: 1.0000
INFO [ecl/validation] val: -0.1331, lp: -0.1213 mean dev: 0.0026 RMS: 0.0353 conf: 1.0000
INFO [ecl/validation] val: -9.8829, lp: -9.8698 mean dev: -0.0004 RMS: 0.0300 conf: 1.0000
INFO [ecl/validation] sensor #2, prio: 100, state: OK
INFO [ecl/validation] val: -0.1538, lp: -0.1463 mean dev: 0.0000 RMS: 0.0191 conf: 1.0000
INFO [ecl/validation] val: -0.1138, lp: -0.1257 mean dev: -0.0000 RMS: 0.0186 conf: 1.0000
INFO [ecl/validation] val: -9.7799, lp: -9.8087 mean dev: -0.0002 RMS: 0.0193 conf: 1.0000 |
LorenzMeier
approved these changes
Apr 26, 2020
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This is a quick follow up fix to #14752. In the case of FIFO data (new IMU drivers) the calibration offset wasn't being applied correctly to the result of integrating the FIFO samples.
This slipped through unnoticed with the offsets zeroed (simple bench testing, the test rack, and SITL CI).