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mag_cal: fix race condition causing invalid mag calibration

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In some cases, the fitness of the optimizer does not shrink at each
iteration, causing the "decreasing fitness check" to fail. This stops
the optimization and returns with sub-optimal, or unrealistic results.
This commit is contained in:
bresch
2021-01-20 14:11:37 +01:00
committed by Daniel Agar
parent b190d98d6d
commit d7812f83f1
1 changed files with 7 additions and 2 deletions
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src/modules/commander/mag_calibration.cpp
+7 -2
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@@ -587,8 +587,13 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
sphere_fit_success = true;
} else {
// stop here if fit has previously succeeded
if (sphere_fit_success) {
// stop here if fit has previously succeeded an if it is good enough
// TODO: extract those conditions for the unit test
if (sphere_fit_success
&& (i > 10)
&& (fitness < 0.01f)
&& (sphere_radius[cur_mag] >= 0.2f)
&& (sphere_radius[cur_mag] <= 0.7f)) {
break;
}
}