ArduPilot/ardupilot

EAHRS is performing duplicate temperature compenstation

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#25,792 建立於 2023年12月18日

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BUGExternalAHRSgood first issue

描述

Bug report

Issue details

Certain devices exposed through EAHRS, like the MicroStrain7, supply data that is already temperature compenstated.

https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/sensor_data/data/mip_field_sensor_scaled_mag.htm https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/sensor_data/data/mip_field_sensor_scaled_accel.htm

When the External AHRS driver posts data to sensor libraries, they perform temperature compenstation on it again, as long as HAL_INS_TEMPERATURE_CAL_ENABLE is defined, which is based on board size.

Please describe the problem

This causes double temperature compensation, leading to incorrect values.

Proposed Solution Add bool is_temperature_compensated; to AP_ExternalARHS::ins_data_message_t, and then add the necessary hooks in AP_InertialSensor::handle_external(const AP_ExternalAHRS::ins_data_message_t &pkt) to stop doing temperature compensation if the supplied value is already temp-compensated.

See ryanf55:eahrs-precompensated-sensors for a prototype fix (WIP)

Version master 1e644d56a51806b63dcd68d5e6566ec0f10248fc

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cpp
領域
backend
議題類型
bug
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前置要求
C++ArduPilot codebaseAP ExternalAHRS/AP InertialSensor
新手友善度1-100 的估計分數，表示該議題對首次貢獻者的友善程度。
40
研究方向
Examine the prototype fix on branch 'ryanf55:eahrs precompensated sensors' (WIP). The main files to modify are AP ExternalAHRS::ins data message t to add a boolean field is temperature compensated, and AP InertialSensor::handle external() to conditionally skip temperature compensation. Ensure the flag is set appropriately for devices like MicroStrain7 that already provide compensated data. Check the Arduino sensor libraries for temperature calibration enable macros (HAL INS TEMPERATURE CAL ENABLE).