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Improved Magnetometer / Compass Bias Estimator (#12998)

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* Rebased on master and clean-up (untested), this is still the initial method

* Included math.h in compass.c, so checks don't fail

* Change comments, compass is still only running at 167 Hz, not worth investing more

* Alternative method, using only mag data

* Removed unnecessary scaling and fine tuning

* Corrected comment

* Removed no longer needed debug DEBUG_MAG_TASK_RATE, comments and corrected some typos

* Improved readability and update of comment

* Rebased on master and resolved conflicts

* Included math.h and maths.h so checks don't fail

* Update src/main/sensors/compass.c

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Update src/main/sensors/compass.h

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Update src/main/sensors/compass.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Changes according to PR comments

---------

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
This commit is contained in:
pichim 2023-11-15 16:12:36 +01:00 • committed by GitHub
parent 9618dc8451
commit 84a04db8b9
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4 changed files with 182 additions and 25 deletions
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src/main/build/debug.h
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@ -116,6 +116,7 @@ typedef enum {
DEBUG_DSHOT_TELEMETRY_COUNTS,
DEBUG_RPM_LIMIT,
DEBUG_RC_STATS,
DEBUG_MAG_CALIB,
DEBUG_COUNT
} debugType_e;