Fix soft-iron correction for magnetometer

sbrodeur / ros-icreate-bbb

ROS (Robotic Operating System) packages for the iRobot Create with onboard BeagleBone Black

BSD 3-Clause "New" or "Revised" License

3 stars 2 forks source link

Fix soft-iron correction for magnetometer #36

Closed sbrodeur closed 7 years ago

sbrodeur commented 7 years ago

Soft-iron correction was disabled because it was leading to weird results after recalibration and changes in the IMU capture nodes. We should attempt to investigate this and re-enable it. This is not a priority task to do before recordings, since it can be applied offline.

sgcarrier commented 7 years ago

See commit 5bb15110a0ee3613574471231bb7a9ebb00d2669 . The calibration now gives the following results. soft_iron_corr_x_y soft_iron_corr_y_z