Speedup level calibration #13666
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Speedup level calibration #13666
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- instead of resetting existing calibration on start and having to wait until the estimator converges, keep existing calibration applied and subtract it. - reduce calibration time from 5s to 500ms, and check for motion during that time. - repeat if there was motion - fix an uorb resource leak
RomanBapst
approved these changes
Dec 3, 2019
dagar
approved these changes
Dec 3, 2019
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Another one that can be made faster: instead of resetting existing calibration on start and having to wait until the estimator converges, keep the existing calibration applied and subtract it during the procedure.
Then measure the attitude during 500ms (instead of 5s previously) and check for motion. If there was, restart the calibration.
As a further improvement we can inform the estimator about the change, so it can reset and adjust quicker.