allow consecutive calibrations

iNavFlight · Oct 7, 2024 · 741dbc2 · 741dbc2
1 parent f95be06
commit 741dbc2
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Showing 2 changed files with 7 additions and 8 deletions.
diff --git a/src/main/sensors/sensors.c b/src/main/sensors/sensors.c
@@ -64,22 +64,19 @@ float applySensorTempCompensation(int16_t sensorTemp, float sensorMeasurement, s
         }
 
         if (setting == 51.0f) {   // initiate auto calibration
-            static float referenceMeasurement = 0.0f;
-            static int16_t lastTemp = 0.0f;
-
             if (sensor_comp_data[sensorType].referenceTemp == sensorTemp) {
-                referenceMeasurement = sensorMeasurement;
-                lastTemp = sensorTemp;
+                sensor_comp_data[sensorType].referenceMeasurement = sensorMeasurement;
+                sensor_comp_data[sensorType].lastTemp = sensorTemp;
                 startTimeMs = millis();
             }
 
             float referenceDeltaTemp = ABS(sensorTemp - sensor_comp_data[sensorType].referenceTemp);    // centidegrees
-            if (referenceDeltaTemp > 300 && referenceDeltaTemp > ABS(lastTemp - sensor_comp_data[sensorType].referenceTemp)) {
+            if (referenceDeltaTemp > 300 && referenceDeltaTemp > ABS(sensor_comp_data[sensorType].lastTemp - sensor_comp_data[sensorType].referenceTemp)) {
                 /* Min 3 deg reference temperature difference required for valid calibration.
                  * Correction adjusted only if temperature difference to reference temperature increasing
                  * Calibration assumes a simple linear relationship */
-                lastTemp = sensorTemp;
-                sensor_comp_data[sensorType].correctionFactor = 0.9f * sensor_comp_data[sensorType].correctionFactor + 0.1f * (sensorMeasurement - referenceMeasurement) / CENTIDEGREES_TO_DEGREES(lastTemp - sensor_comp_data[sensorType].referenceTemp);
+                sensor_comp_data[sensorType].lastTemp = sensorTemp;
+                sensor_comp_data[sensorType].correctionFactor = 0.9f * sensor_comp_data[sensorType].correctionFactor + 0.1f * (sensorMeasurement - sensor_comp_data[sensorType].referenceMeasurement) / CENTIDEGREES_TO_DEGREES(sensor_comp_data[sensorType].lastTemp - sensor_comp_data[sensorType].referenceTemp);
                 sensor_comp_data[sensorType].correctionFactor = constrainf(sensor_comp_data[sensorType].correctionFactor, -50.0f, 50.0f);
             }
         } else {

diff --git a/src/main/sensors/sensors.h b/src/main/sensors/sensors.h
@@ -67,7 +67,9 @@ typedef enum {
 
 typedef struct sensor_compensation_s {
     float correctionFactor;
+    float referenceMeasurement;
     int16_t referenceTemp;
+    int16_t lastTemp;
     sensorTempCalState_e calibrationState;
 } sensor_compensation_t;