[sfusion, BMI270] Perform gryo motionless calibration before gyro offset calibration #367
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…set calibration On a normal reset, we set the CRT (motionless) registers at startup, and then apply the calibrated gryo offset to every gyro sample. Previously, we performed gyro offset calibration before CRT calibration. This means that we are actually calculating the gyro offset based on a CRT of 0, instead of the actual CRT. This change performs CRT calibration before gyro calibration, so that the gryo offset is based on the actual CRT.
ButterscotchV
approved these changes
Nov 25, 2024
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On a normal reset, we set the CRT (motionless) registers at startup, and then apply the calibrated gryo offset to every gyro sample.
Previously, we performed gyro offset calibration before CRT calibration. This means that we are actually calculating the gyro offset based on a CRT of 0, instead of the actual CRT.
This change performs CRT calibration before gyro calibration, so that the gryo offset is based on the actual CRT.
Cherry-picked from:
l0ud@2424b2f
l0ud@cf34988