Merge from develop_1.12.0

inertialsense · Mar 29, 2024 · abe8941 · abe8941
2 parents ef771f8 + ede4840
commit abe8941
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Showing 3 changed files with 5 additions and 1 deletion.
diff --git a/src/ISDataMappings.cpp b/src/ISDataMappings.cpp
@@ -1059,6 +1059,7 @@ static void PopulateFlashConfigMappings(map_name_to_info_t mappings[DID_COUNT])
     ADD_MAP(m, totalSize, "wheelConfig.track_width", wheelConfig.track_width, 0, DataTypeFloat, float, 0);
     ADD_MAP(m, totalSize, "wheelConfig.radius", wheelConfig.radius, 0, DataTypeFloat, float, 0);
 	ADD_MAP(m, totalSize, "magInterferenceThreshold", magInterferenceThreshold, 0, DataTypeFloat, float, 0);
+	ADD_MAP(m, totalSize, "magCalibrationQualityThreshold", magCalibrationQualityThreshold, 0, DataTypeFloat, float, 0);
 
     ASSERT_SIZE(totalSize);
 }

diff --git a/src/data_sets.h b/src/data_sets.h
@@ -3175,6 +3175,9 @@ typedef struct PACKED
 	/** Magnetometer interference sensitivity threshold. Typical range is 2-10 (3 default) and 1000 to disable mag interference detection. */
 	float                   magInterferenceThreshold;
 
+	/** Magnetometer calibration quality sensitivity threshold. Typical range is 10-20 (10 default) and 1000 to disable mag calibration quality check, forcing it to be always good. */
+	float                   magCalibrationQualityThreshold;
+
 } nvm_flash_cfg_t;
 
 /** (DID_INL2_NED_SIGMA) Standard deviation of INL2 EKF estimates in the NED frame. */

diff --git a/src/pybindMacros.h b/src/pybindMacros.h
@@ -32,7 +32,7 @@ PYBIND11_NUMPY_DTYPE(nmea_msgs_t, options, nmeaBroadcastMsgs);
 PYBIND11_NUMPY_DTYPE(rmc_t, bits, options);
 PYBIND11_NUMPY_DTYPE(sys_params_t, timeOfWeekMs, insStatus, hdwStatus, imuTemp, baroTemp, mcuTemp, sysStatus, imuSamplePeriodMs, navOutputPeriodMs, sensorTruePeriod, flashCfgChecksum, navUpdatePeriodMs, genFaultCode);
 PYBIND11_NUMPY_DTYPE(sys_sensors_t, time, temp, pqr, acc, mag, bar, barTemp, mslBar, humidity, vin, ana1, ana3, ana4);
-PYBIND11_NUMPY_DTYPE(nvm_flash_cfg_t, size, checksum, key, startupImuDtMs, startupNavDtMs, ser0BaudRate, ser1BaudRate, insRotation, insOffset, gps1AntOffset, dynamicModel, debug, gnssSatSigConst, sysCfgBits, refLla, lastLla, lastLlaTimeOfWeekMs, lastLlaWeek, lastLlaUpdateDistance, ioConfig, platformConfig, gps2AntOffset, zeroVelRotation, zeroVelOffset, gpsTimeUserDelay, magDeclination, gpsTimeSyncPeriodMs, startupGPSDtMs, RTKCfgBits, sensorConfig, gpsMinimumElevation, ser2BaudRate, wheelConfig, magInterferenceThreshold);
+PYBIND11_NUMPY_DTYPE(nvm_flash_cfg_t, size, checksum, key, startupImuDtMs, startupNavDtMs, ser0BaudRate, ser1BaudRate, insRotation, insOffset, gps1AntOffset, dynamicModel, debug, gnssSatSigConst, sysCfgBits, refLla, lastLla, lastLlaTimeOfWeekMs, lastLlaWeek, lastLlaUpdateDistance, ioConfig, platformConfig, gps2AntOffset, zeroVelRotation, zeroVelOffset, gpsTimeUserDelay, magDeclination, gpsTimeSyncPeriodMs, startupGPSDtMs, RTKCfgBits, sensorConfig, gpsMinimumElevation, ser2BaudRate, wheelConfig, magInterferenceThreshold, magCalibrationQualityThreshold);
 PYBIND11_NUMPY_DTYPE(gps_pos_t, week, timeOfWeekMs, status, ecef, lla, hMSL, hAcc, vAcc, pDop, cnoMean, towOffset, leapS, reserved);
 PYBIND11_NUMPY_DTYPE(gps_vel_t, timeOfWeekMs, vel, sAcc, status);
 PYBIND11_NUMPY_DTYPE(gps_sat_t, timeOfWeekMs, numSats, sat);