Allow full compass calibration with location sources other than GPS #27409
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tridge
approved these changes
Jul 2, 2024
tridge
requested changes
Jul 2, 2024
| @@ -1065,14 +1065,15 @@ bool CompassCalibrator::calculate_orientation(void) | |||
| */ | |||
| bool CompassCalibrator::fix_radius(void) | |||
| { | |||
| if (AP::gps().status() < AP_GPS::GPS_OK_FIX_2D) { | |||
| Location loc; | |||
| if (!AP::ahrs().get_location(loc)) { | |||
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i think we need to accept either AHRS location or GPS location, so lack of healthy compass doesn't prevent compass calibration to fix the issue
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could also do AP::ahrs().get_origin()
rmackay9
reviewed
Jul 2, 2024
| if (AP::gps().status() < AP_GPS::GPS_OK_FIX_2D) { | ||
| Location loc; | ||
| if (!AP::ahrs().get_location(loc)) { | ||
| gcs().send_text(MAV_SEVERITY_WARNING, "MagCal: No location, fix_radius skipped"); |
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We should probably use GCS_SEND_TEXT and I think we should check the prefix is consistent with other text messages from this library.
Williangalvani
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tridge
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Jul 9, 2024
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Not having a GPS connected currently causes compass calibration to skip the fix_radius step, which prevents using the WMM in the ekf.
I also added a warning so users can know something is wrong.
this is a step towards fix #18229, and is extracted from #26506