Bugfix: Flag to write EEPROM calibration data set.

realtimepeople · MaxBaex · commit a055f6e9ed00 · 2025-07-15T18:52:19.000+02:00
diff --git a/NAV_Algorithms/AHRS.cpp b/NAV_Algorithms/AHRS.cpp
@@ -407,19 +407,15 @@ void AHRS_type::handle_magnetic_calibration ( void)
 {
   bool calibration_changed = compass_calibration.set_calibration_if_changed ( mag_calibration_data_collector_right_turn, mag_calibration_data_collector_left_turn, MAG_SCALE);
 
-#if REPORT_MAGNETIC_CALIBRATION == 1
-
   if( calibration_changed)
     {
+#if REPORT_MAGNETIC_CALIBRATION == 1
       magnetic_induction_report_t magnetic_induction_report;
       for( unsigned i=0; i<3; ++i)
 	magnetic_induction_report.calibration[i] = (compass_calibration.get_calibration())[i];
-
+#endif
       magnetic_calibration_updated = true;
     }
-#else
-  (void)calibration_changed;
-#endif
 }
 
 void AHRS_type::filter_magnetic_induction( const float3vector &gyro, float3vector &mag)

Original file line number	Diff line number	Diff line change
`@@ -407,19 +407,15 @@ void AHRS_type::handle_magnetic_calibration ( void)`
`407`	`407`	`{`
`408`	`408`	`bool calibration_changed = compass_calibration.set_calibration_if_changed ( mag_calibration_data_collector_right_turn, mag_calibration_data_collector_left_turn, MAG_SCALE);`
`409`	`409`
`410`		`-#if REPORT_MAGNETIC_CALIBRATION == 1`
`411`		`-`
`412`	`410`	`if( calibration_changed)`
`413`	`411`	`{`
	`412`	`+#if REPORT_MAGNETIC_CALIBRATION == 1`
`414`	`413`	`magnetic_induction_report_t magnetic_induction_report;`
`415`	`414`	`for( unsigned i=0; i<3; ++i)`
`416`	`415`	`magnetic_induction_report.calibration[i] = (compass_calibration.get_calibration())[i];`
`417`		`-`
	`416`	`+#endif`
`418`	`417`	`magnetic_calibration_updated = true;`
`419`	`418`	`}`
`420`		`-#else`
`421`		`- (void)calibration_changed;`
`422`		`-#endif`
`423`	`419`	`}`
`424`	`420`
`425`	`421`	`void AHRS_type::filter_magnetic_induction( const float3vector &gyro, float3vector &mag)`