changed order of calibration in systems to act upon raw rather than calibrated data

Author: tjmcmanamen38

MIDAS/src/esp_eeprom.cpp

@@ -46,8 +46,9 @@ ErrorCode EEPROMController::init() {
         MIDASEEPROM empty_setting;
         empty_setting.checksum = EEPROM_CHECKSUM;
         data = empty_setting;
-        Serial.println("EEPROM INITIAL READ FAILED");
-        commit(); // should we do this? essentially wipes eeprom. probably doesn't matter though if format is incompatible
+        Serial.println("EEPROM CHECKSUM INCOMPATIBLE");
+        // Clear EEPROM and write correct checksum
+        commit();
     }
 
     return ErrorCode::NoError;

MIDAS/src/hardware/IMU.cpp

@@ -185,7 +185,7 @@ void IMUSensor::calib_reading(Acceleration lowg_reading, Acceleration highg_read
                 if (_calib_valid_readings >= NUM_READINGS_FOR_CALIB) {
                     float overall_offset = _calib_average / (NUM_READINGS_FOR_CALIB*2);
                     Serial.println("[-X] Good.");
-                    calibration_sensor_bias.ax += overall_offset;
+                    calibration_sensor_bias.ax = overall_offset;
                     _calib_average = 0.0;
                     next_calib(buzzer_indicator, eeprom);
                 }
@@ -213,7 +213,7 @@ void IMUSensor::calib_reading(Acceleration lowg_reading, Acceleration highg_read
                 if (_calib_valid_readings >= NUM_READINGS_FOR_CALIB) {
                     float overall_offset = _calib_average / (NUM_READINGS_FOR_CALIB*2);
                     Serial.println("[-Y] Good.");
-                    calibration_sensor_bias.ay += overall_offset;
+                    calibration_sensor_bias.ay = overall_offset;
                     _calib_average = 0.0;
                     next_calib(buzzer_indicator, eeprom);
                 }
@@ -242,7 +242,7 @@ void IMUSensor::calib_reading(Acceleration lowg_reading, Acceleration highg_read
                 if (_calib_valid_readings >= NUM_READINGS_FOR_CALIB) {
                     float overall_offset = _calib_average / (NUM_READINGS_FOR_CALIB*2);
                     Serial.println("[-Z] Good.");
-                    calibration_sensor_bias.az += overall_offset;
+                    calibration_sensor_bias.az = overall_offset;
                     _calib_average = 0.0;
                     next_calib(buzzer_indicator, eeprom);
                 }

MIDAS/src/systems.cpp

@@ -83,16 +83,6 @@ DECLARE_THREAD(imuthread, RocketSystems *arg)
         IMU_SFLP hw_filter = arg->sensors.imu.read_sflp();
         xSemaphoreGive(spi_mutex);
 
-        // Sensor biases
-        Acceleration bias = arg->sensors.imu.calibration_sensor_bias;
-
-        imudata.highg_acceleration.ax = imudata.highg_acceleration.ax + bias.ax;
-        imudata.highg_acceleration.ay = imudata.highg_acceleration.ay + bias.ay;
-        imudata.highg_acceleration.az = imudata.highg_acceleration.az + bias.az;
-
-        arg->rocket_data.imu.update(imudata);
-        arg->rocket_data.hw_filtered.update(hw_filter);
-
         // Sensor calibration, if it is triggered.
         if(arg->sensors.imu.calibration_state != IMUSensor::IMUCalibrationState::NONE) {
             arg->sensors.imu.calib_reading(imudata.lowg_acceleration, imudata.highg_acceleration, arg->buzzer, arg->eeprom);
@@ -102,6 +92,16 @@ DECLARE_THREAD(imuthread, RocketSystems *arg)
                 arg->sensors.imu.abort_calibration(arg->buzzer, arg->eeprom);
             }
         }
+
+        // Sensor biases
+        Acceleration bias = arg->sensors.imu.calibration_sensor_bias;
+
+        imudata.highg_acceleration.ax = imudata.highg_acceleration.ax + bias.ax;
+        imudata.highg_acceleration.ay = imudata.highg_acceleration.ay + bias.ay;
+        imudata.highg_acceleration.az = imudata.highg_acceleration.az + bias.az;
+
+        arg->rocket_data.imu.update(imudata);
+        arg->rocket_data.hw_filtered.update(hw_filter);
 
         THREAD_SLEEP(5);
     }