mag_calib_ukf
Calibrate magnetometer using UKF Online calibration of the magnetometer sensor using an UKF approach. It is required to redirect the magnetometer measurements to this module before using them in your estimation filters. In order to do that, define the mag id for your filter (for example AHRS_MLKF_MAG_ID for the mlkf ahrs filter) to MAG_CALIB_UKF_ID. For more information see TRICAL project page (https://www.github.com/sfwa/TRICAL).
Name |
Value |
Description |
|---|---|---|
[AHRS/INS]_XXX_MAG_ID |
MAG_CALIB_UKF_ID |
Select correct input mag for your estimation filter (AHRS or INS), replace XXX by your filter name as defined in sw/airborne/modules/core/abi_sender_ids.h |
MAG_CALIB_UKF_ |
||
|---|---|---|
Name |
Value |
Description |
NORM |
1.0f |
Measurement norm of magnetometer |
NOISE_RMS |
2e-1f |
Noise RMS of magnetometer |
ABI_BIND_ID |
ABI_BROADCAST |
Bind to a specific source for input data, broadcast ID by default |
INITIAL_STATE |
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 |
Initial state to be used by filter. There is an option to send the state from settings, after which the state will be send through the PAYLOAD_FLOAT message. |
HOTSTART |
TRUE |
Read calibration on initialization and Write calibration periodically to file (only for Linux-based boards) |
HOTSTART_SAVE_FILE |
/data/ftp/internal_000/mag_ukf_calib.txt |
Hotstart save file (only for Linux-based boards) |
VERBOSE |
FALSE |
Enable terminal verbose mode (only for Linux-based boards) |