Peter BarkerandClaude Fable 5
7d22e6d2b1
MagcalController advanced calibration poses using wall-clock timers (time.time()): 24 wall-seconds maximum dwell per pose and 4 wall-seconds of unchanged-progress before rotating. The vehicle rotation and the calibrator's sample consumption are both simulation time, so at SITL speedup the sphere coverage for a pose completes in a fraction of a wall second and the controller then sat idle for the rest of the wall-clock dwell. This made SITLCompassCalibration the second most expensive test in CI at ~370 wall-seconds. Clock the controller from ATTITUDE.time_boot_ms instead so every quantity in the controller is in the simulation time domain; the existing constants keep their values, now correctly denominated in simulation seconds (a full turn at pi/4 rad/s genuinely takes 8 simulation seconds). Locally the test drops from ~370 to ~80-90 seconds. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
MAVProxy modules
This folder contains modules for MAVProxy specifically for ArduPilot. Add the
path to this folder to your PYTHONPATH in order to use it.
Modules
sitl_calibration
This module interfaces with the calibration model of SITL. It provides
commands to actuate on the vehicle's rotation to simulate a calibration
process.
Make sure to pass --model calibration to the SITL binary in order to be able
use this module's commands. You can also use
[sim_vehicle.py](../autotest/sim_vehicle.py) with --frame calibration.
Accelerometer Calibration
The command sitl_accelcal listens to the accelerometer calibration status
texts and set the vehicle in the desired attitude. Example:
accelcal
sitl_accelcal
Compass Calibration
The command sitl_magcal applies angular velocity on the vehicle in order to
get the compasses calibrated. Example:
magcal start
sitl_magcal
Other commands
There are other commands you can use with this module:
sitl_attitude: set vehicle at a desired attitudesitl_angvel: apply angular velocity on the vehiclesitl_stop: stop any of this module's currently active command
magcal_graph
This module shows the geodesic sections hit by the samples collected during
compass calibration, and also some status data. The objective of this module is
to provide a reference on how to interpret the field completion_mask from the
MAG_CAL_PROGRESS mavlink message. That information can be used in order to
guide the vehicle user during calibration.
The plot shown by this module isn't very helpful to the end user, but it might help developers during development of internal calibration support in ground control stations.
The only command provided by this module is magcal_graph, which will open the
graphical user interface.