Pixhawk 6X Accelerometer Calibration Error - Release/1.13 Branch

[vincentpoont2]

Describe the bug

Unable to calibrate Pixhawk 6X FC when using Release/1.13 branch. Issue does not occur in Master FW.

1.13.1 listener sensor_accel.txt
1.13.1 Test Cal Error.txt
1.13.1 Test Dmesg.txt

Pixhawk.6X.Calc.Issue.1.13.1.mp4

To Reproduce

Steps to reproduce the behavior:

1. Build with release/1.13 branch.
2. Calibration Accelerometer on a Pixhawk 6X.

[julianoes]

I couldn't always reproduce the accel problem, but the gyro calibration did not work at all.

That's because gyro instance 2 only seemed to publish once and then stopped which matches the warning that you see about accel 2.

@dagar's fixes in #19660 seem to fix that. Once I cherry picked these two commits onto the release/1.13 branch, the calibration for gyro and accel looked much better for me.

Before:

INFO  [commander] [cal] calibration started: 2 gyro
INFO  [commander] [cal] progress <0>
INFO  [commander] [cal] progress <0>
INFO  [commander] [cal] progress <0>
INFO  [commander] [cal] progress <0>
INFO  [commander] [cal] progress <0>
INFO  [commander] [cal] progress <0>
INFO  [commander] [cal] progress <0>
...
[stuck forever]

INFO  [commander] [cal] calibration started: 2 accel
...
INFO  [commander] [cal] Hold still, measuring up side
ERROR [commander] [cal] accel 2 invalid Z-axis, check rotation
WARN  [commander] [cal] calibration failed: accel

After:

nsh> INFO  [commander] [cal] calibration started: 2 gyro
...
GYRO 2424858 EN: 1, offset: [-0.038 -0.007 -0.000], Internal
GYRO 2490386 EN: 1, offset: [-0.005 0.013 0.012], Internal
GYRO 2752522 EN: 1, offset: [0.006 -0.020 -0.003], Internal
INFO  [commander] [cal] calibration done: gyro

nsh> INFO  [commander] [cal] calibration started: 2 accel
...
ACC 2424858 EN: 1, offset: [0.141 0.022 -0.067], scale: [1.001 1.001 0.981], Internal
ACC 2490386 EN: 1, offset: [0.049 0.011 -0.172], scale: [1.000 1.000 1.000], Internal
ACC 2752522 EN: 1, offset: [-0.003 -0.057 0.008], scale: [1.000 1.000 1.000], Internal
INFO  [commander] [cal] calibration done: accel

Backport in #20165.