Mag calibration improvements and fixes #13623
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Fixes a serious bug in combination with the HMC5883 driver (also used for HMC5983): this driver estimates a scale in MAGIOCCALIBRATE and applies it. The calibration routine does the calibration with that scale applied, and then overwrites it, without considering it in any way. Most other mag drivers only do some measurements and perform some checks in MAGIOCCALIBRATE (but the result is just ignored).
So it is independent from the number of configured sides. Previously, each side would take longer if less than 6 sides were calibrated. Also fixes a bug: calibration_sides was used before it was updated, leading to different behavior on consecutive calibrations with <6 sides.
- if less than 6 sides are calibrated, keep the existing calibration and update the offsets and scales - if 2 sides are calibrated, estimate the offsets only (as this is enough if a full calibration was done already, and the problem is not constrained enough to estimate scales and offsets)
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Awesome! |
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For the HMC5883/HMC5983 internal calibrate I was wondering about doing it initially at driver start (stored and applied correctly), and not explicitly with every user driven calibration. Thoughts? The MAGIOCCALIBRATE interaction during calibration is one of the little things we don't really have a replacement for if we used parameters directly. The calibrate also looks bogus in some of the other drivers (copypasta from the honeywell). |
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I have not looked into the exact details, but I don't think it's worth the effort, simply for the fact that both HMC5883 and HMC5983 are EOL. For others it might be useful though. |
dagar
approved these changes
Nov 29, 2019
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Bug fix
Fixes a serious calibration bug in combination with the HMC5883 driver (also used for HMC5983): this driver estimates a scale in MAGIOCCALIBRATE and applies it.
The calibration routine calls MAGIOCCALIBRATE (after resetting the existing calibration), then does the calibration with that scale applied, and then overwrites it, without considering it in any way.
Most other mag drivers only do some measurements and perform some checks in MAGIOCCALIBRATE (but the result is just ignored). So it could be removed completely.
Improve 4 and 2 side calibration
The idea is that an initial 6 sided (factory-) calibration is done, and then a two-sided calibration is sufficient later on.
So this PR changes:
Tested on different boards, with different number of sides. The results were consistent when repeating the calibration.
See also individual commits.