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Improve compass calibration method

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- initiate calibration with first read values to account for min values
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This commit is contained in:
Dan Welch 2024-12-14 09:46:26 -07:00
parent 686f569540
commit 148ceac296
2 changed files with 18 additions and 6 deletions
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11
src/motion/BMX160Sensor.cpp
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@ -40,6 +40,15 @@ int32_t BMX160Sensor::runOnce()
screen->startAlert((FrameCallback)drawFrameCalibration); screen->startAlert((FrameCallback)drawFrameCalibration);
} }
if (firstCalibrationRead) {
highestX = magAccel.x;
lowestX = magAccel.x;
highestY = magAccel.y;
lowestY = magAccel.y;
highestZ = magAccel.z;
lowestZ = magAccel.z;
firstCalibrationRead = false;
} else {
if (magAccel.x > highestX) if (magAccel.x > highestX)
highestX = magAccel.x; highestX = magAccel.x;
if (magAccel.x < lowestX) if (magAccel.x < lowestX)
@ -52,6 +61,7 @@ int32_t BMX160Sensor::runOnce()
highestZ = magAccel.z; highestZ = magAccel.z;
if (magAccel.z < lowestZ) if (magAccel.z < lowestZ)
lowestZ = magAccel.z; lowestZ = magAccel.z;
}
uint32_t now = millis(); uint32_t now = millis();
if (now > endCalibrationAt) { if (now > endCalibrationAt) {
@ -116,6 +126,7 @@ void BMX160Sensor::calibrate(uint16_t forSeconds)
LOG_DEBUG("BMX160 calibration started for %is", forSeconds); LOG_DEBUG("BMX160 calibration started for %is", forSeconds);
doCalibration = true; doCalibration = true;
firstCalibrationRead = true;
uint16_t calibrateFor = forSeconds * 1000; // calibrate for seconds provided uint16_t calibrateFor = forSeconds * 1000; // calibrate for seconds provided
endCalibrationAt = millis() + calibrateFor; endCalibrationAt = millis() + calibrateFor;
screen->setEndCalibration(endCalibrationAt); screen->setEndCalibration(endCalibrationAt);

1
src/motion/MotionSensor.h
View File

@ -58,6 +58,7 @@ class MotionSensor
// Do calibration if true // Do calibration if true
bool doCalibration = false; bool doCalibration = false;
bool firstCalibrationRead = false;
uint32_t endCalibrationAt = 0; uint32_t endCalibrationAt = 0;
}; };