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[sfusion, BMI270] Perform gryo motionless calibration before gyro offset calibration #367

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merged 1 commit into from
Nov 25, 2024
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[sfusion, BMI270] Perform gryo motionless calibration before gyro offset calibration #367

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5 changes: 5 additions & 0 deletions src/sensors/softfusion/drivers/bmi270.h
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Original file line number Diff line number Diff line change
Expand Up @@ -363,6 +363,11 @@ struct BMI270 {
gyroSensitivity.z = crt_values[2];
}

// CRT seems to leave some state behind which isn't persisted after
// restart. If we continue without restarting, the gyroscope will behave
// differently on this run compared to subsequent restarts.
restartAndInit();

setNormalConfig(gyroSensitivity);
}

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5 changes: 4 additions & 1 deletion src/sensors/softfusion/softfusionsensor.h
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Expand Up @@ -320,7 +320,6 @@ class SoftFusionSensor : public Sensor {
if (calibrationType == 0) {
// ALL
calibrateSampleRate();
calibrateGyroOffset();
if constexpr (HasMotionlessCalib) {
typename imu::MotionlessCalibrationData calibData;
m_sensor.motionlessCalibration(calibData);
Expand All @@ -330,6 +329,10 @@ class SoftFusionSensor : public Sensor {
sizeof(calibData)
);
}
// Gryoscope offset calibration can only happen after any motionless
// gyroscope calibration, otherwise we are calculating the offset based
// on an incorrect starting point
calibrateGyroOffset();
calibrateAccel();
} else if (calibrationType == 1) {
calibrateSampleRate();
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