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Avoid over confidence in calibration fit accuracy

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This commit is contained in:
PaulStoffregen 2016-03-20 03:25:45 -07:00
commit 0a0694bf43
1 changed files with 7 additions and 1 deletions
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8
magcal.c
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@ -82,9 +82,11 @@ void MagCal_Run(void)
if (count < MINMEASUREMENTS7CAL) {
isolver = 4;
fUpdateCalibration4INV(&magcal); // 4 element matrix inversion calibration
if (magcal.trFitErrorpc < 12.0f) magcal.trFitErrorpc = 12.0f;
} else if (count < MINMEASUREMENTS10CAL) {
isolver = 7;
fUpdateCalibration7EIG(&magcal); // 7 element eigenpair calibration
if (magcal.trFitErrorpc < 7.5f) magcal.trFitErrorpc = 7.5f;
} else {
isolver = 10;
fUpdateCalibration10EIG(&magcal); // 10 element eigenpair calibration
@ -103,7 +105,11 @@ void MagCal_Run(void)
//printf("new magnetic cal, B=%.2f uT\n", magcal.trB);
magcal.ValidMagCal = isolver;
magcal.FitError = magcal.trFitErrorpc;
magcal.FitErrorAge = magcal.trFitErrorpc;
if (magcal.trFitErrorpc > 2.0f) {
magcal.FitErrorAge = magcal.trFitErrorpc;
} else {
magcal.FitErrorAge = 2.0f;
}
magcal.B = magcal.trB;
magcal.FourBsq = 4.0F * magcal.trB * magcal.trB;
for (i = X; i <= Z; i++) {