Reduce pre flight mag inconsistency test false positives #12327
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Check horizontal and vertical angular discrepancy separately.
|
Under what circumstances would you advise relaxing the thresholds as an acceptable solution? I guess what I'm really wondering is if we want to expose these tuning knobs versus identifying a mag that might as well be disabled entirely or a switch to skip the check entirely (what most users are actually doing when "tuning" the parameter). |
MaEtUgR
reviewed
Jun 25, 2019
| * @decimal 2 | ||
| * @increment 0.05 | ||
| */ | ||
| PARAM_DEFINE_FLOAT(COM_ARM_MAG, 0.15f); | ||
| PARAM_DEFINE_FLOAT(COM_ARM_MAG_V, 0.7f); |
There was a problem hiding this comment.
Why does there need to be a different angle for inclination and declination? As far as I understood the check is to find out if the mag is mounted the wrong way or the sensor orientation is set wrong. Not?
MaEtUgR
reviewed
Jun 25, 2019
|
|
||
| // calculate the horizontal angle between the two vectors to estimate the difference in magnetic heading thee sensors would produce | ||
| matrix::Quatf q_delta(mag_hvec_selected, mag_hvec_alternate); | ||
| matrix::Vector3f ang_hvec_delta = q_delta.to_axis_angle(); |
There was a problem hiding this comment.
to_axis_angle() is "XXX DEPRECATED"
MaEtUgR
reviewed
Jun 25, 2019
MaEtUgR
reviewed
Jun 25, 2019
| @@ -1249,10 +1279,12 @@ void VotedSensorsUpdate::calc_mag_inconsistency(sensor_preflight_s &preflt) | |||
|
|
|||
| // skip check if less than 2 sensors | |||
| if (check_index < 1) { | |||
| preflt.mag_inconsistency_ga = 0.0f; | |||
| preflt.mag_inconsistency_h = 0.0f; | |||
| preflt.mag_inconsistency_v = 0.0f; | |||
|
|
|||
| } else { | |||
| // get the vector length of the largest difference and write to the combined sensor struct | |||
|
Here's my suggestion that I also successfully tested now: #12334 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Work in progress for comment and review.
Raised in response to #12272.
@MaEtUgR are you able to test on your setup(s) and provide feedback? TXS