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calibration: accel: rotate offsets/scales back into sensor frame before saving #25626

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Merged
dagar merged 1 commit into from
Sep 25, 2025
Merged

calibration: accel: rotate offsets/scales back into sensor frame before saving #25626

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13 changes: 10 additions & 3 deletions src/modules/commander/accelerometer_calibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -366,17 +366,24 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
const Matrix3f accel_T = mat_A.I() * CONSTANTS_ONE_G;

// update calibration
worker_data.calibration[i].set_offset(offset);
worker_data.calibration[i].set_scale(accel_T.diag());
const Dcmf &R = worker_data.calibration[i].rotation();

const Vector3f sensor_frame_offsets{R.transpose() *offset};
const Matrix3f sensor_frame_scale{R.transpose() *accel_T * R};

worker_data.calibration[i].set_offset(sensor_frame_offsets);
worker_data.calibration[i].set_scale(sensor_frame_scale.diag());

#if defined(DEBUD_BUILD)
PX4_INFO("accel %d: offset", i);
offset.print();
sensor_frame_offsets.print();

PX4_INFO("accel %d: mat_A", i);
mat_A.print();
PX4_INFO("accel %d: accel_T", i);
accel_T.print();
PX4_INFO("accel %d: scale matrix", i);
sensor_frame_scale.print();
#endif // DEBUD_BUILD
worker_data.calibration[i].PrintStatus();

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