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Speedup level calibration #13666

Merged
merged 2 commits into from
Dec 3, 2019
Merged

Speedup level calibration #13666

merged 2 commits into from
Dec 3, 2019

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bkueng
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@bkueng bkueng commented Dec 3, 2019

Another one that can be made faster: instead of resetting existing calibration on start and having to wait until the estimator converges, keep the existing calibration applied and subtract it during the procedure.
Then measure the attitude during 500ms (instead of 5s previously) and check for motion. If there was, restart the calibration.

As a further improvement we can inform the estimator about the change, so it can reset and adjust quicker.

- instead of resetting existing calibration on start and having to wait
  until the estimator converges, keep existing calibration applied and
  subtract it.
- reduce calibration time from 5s to 500ms, and check for motion during
  that time.
- repeat if there was motion
- fix an uorb resource leak
@dagar dagar merged commit e2a2654 into master Dec 3, 2019
@dagar dagar deleted the level_calib_improvements branch December 3, 2019 18:59
@mrpollo mrpollo mentioned this pull request Mar 16, 2020
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3 participants