Speed up gyro calibration #13632
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Speed up gyro calibration #13632
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It's not required to take that many samples, 1 second is enough. This is confirmed by looking at the standard deviation over 10 calibrations: it is in the same order as with 20 seconds (the effect of temperature increase has a bigger effect).
From 0.573 deg to 0.4. And some cleanup.
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Good change! |
LorenzMeier
approved these changes
Nov 29, 2019
dagar
approved these changes
Nov 29, 2019
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The existing calibration collects 5000 samples, which is unnecessary, so this PR reduces it to 250 (1 second). Tests showed that the standard deviation of the estimated offsets over 10 runs is in the same range for 1s as for 20s (the increase in temperature has a bigger effect on the offset). This was tested with an MPU9250, ICM20608, ICM20689 and BMI088.
In case of motion, calibration is restarted automatically, maximally 30 times (same as existing behavior).