Avoid duplicate temperature compensation in EAHRS #30863
+78
−24
Conversation
This file contains hidden or 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
ohyaiamhere
changed the title
ohyaiamhere
force-pushed
the
temp_cal
branch
4 times, most recently
from
34370d4 to
67075aa
Compare
ohyaiamhere
force-pushed
the
temp_cal
branch
4 times, most recently
from
3f98453 to
9a97e14
Compare
ohyaiamhere
force-pushed
the
temp_cal
branch
3 times, most recently
from
e994bc3 to
9ff73df
Compare
…um and control temp compensation
ohyaiamhere
force-pushed
the
temp_cal
branch
from
9ff73df to
0f88775
Compare
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Outdated suggestions cannot be applied.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.
As explained in issue #25792, there is an issue where EAHRS performs duplicate temperature compensation for certain sensors.
The enum
TempCalibrationof the typeTempCalis adjusted to see if the sensors is of the MicroStrain7 type (as mentioned in the issue) and set the enum asIsTempCalibrated. Else the enum is set asIsNotTempCalibrated.In the inertial sensor section, this enum, which was sent by the message
ins_data_message_t, is checked, and if there is temperature compensation, a new boolIsTempCalibratedis set totrue. This bool then checked at places where temperature compensation due toHAL_INS_TEMPERATURE_CAL_ENABLEoccurs and the code inside is executed if the bool isfalse.