Remove vestiges of LearnType::LEARN_INTERNAL #29150
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57a3bc1 changed the code from "internal" to "in-flight It seems the old value of "1" was no longer valid It also changed things to that the learning system saved the offsets.
57a3bc1 changed the code from "internal" to "in-flight It seems the old value of "1" was no longer valid It also changed things to that the learning system saved the offsets.
57a3bc1 changed the code from "internal" to "in-flight It seems the old value of "1" was no longer valid It also changed things to that the learning system saved the offsets.
57a3bc1 changed the code from "internal" to "in-flight It seems the old value of "1" was no longer valid It also changed things to that the learning system saved the offsets.
peterbarker
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I'm personally happy with this. Looking at our advanced compass setup wiki page it says the following which is still correct after this change
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Any idea what the "copy offsets from EKF" code's status is? Still in dev or is it deprecated? |
tridge
approved these changes
Jan 28, 2025
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57a3bc1 changed the code from "internal" to "in-flight
It seems the old value of "1" was no longer valid
It also changed things so that the learning system saved the offsets.
We have two sorts of compass learning:
Copy-values-from-EKF sets-and-saves offsets on a per-vehicle basis at the moment, eg. https://github.com/ardupilot/ardupilot/blob/master/ArduCopter/AP_Arming.cpp#L814 so it doesn't want or need this code.
The in-flight learning system sets-and-saves the offsets via a called to fixed-mag-cal-yaw code here: https://github.com/ardupilot/ardupilot/blob/master/libraries/AP_Compass/Compass_learn.cpp#L65 (https://github.com/ardupilot/ardupilot/master/libraries/AP_Compass/AP_Compass_Calibration.cpp#L566)
This does seem to have been some sort of back-door for saving compass offsets on Rover, Plane and Tracker, bypassing "forcecal" requirements.