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Only set magnetometer gain if param is set #169

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Merged
merged 1 commit into from
Nov 27, 2023
Merged

Only set magnetometer gain if param is set #169

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3 changes: 2 additions & 1 deletion phidgets_spatial/launch/spatial-launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,8 @@ def generate_launch_description():
'ahrs_bias_time': 1.25,

# optional param algorithm_magnetometer_gain, default is 0.005
'algorithm_magnetometer_gain': 0.005,
# WARNING: do not set on PhidgetSpatial MOT0110 onwards (not supported)!
# 'algorithm_magnetometer_gain': 0.005,

# optional param heating_enabled, not modified by default
'heating_enabled': False,
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11 changes: 8 additions & 3 deletions phidgets_spatial/src/spatial_ros_i.cpp
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Expand Up @@ -92,11 +92,14 @@ SpatialRosI::SpatialRosI(const rclcpp::NodeOptions &options)
this->get_parameter("ahrs_bias_time", ahrsBiasTime);

double algorithm_magnetometer_gain;
bool set_algorithm_magnetometer_gain = true;
if (!this->get_parameter("algorithm_magnetometer_gain",
algorithm_magnetometer_gain))
{
algorithm_magnetometer_gain =
0.005; // default to 0.005 (similar to phidgets api)
algorithm_magnetometer_gain = 0.0;
set_algorithm_magnetometer_gain =
false; // if parameter not set, do not call api (because this
// function is not available from MOT0110 onwards)
}

bool heating_enabled;
Expand Down Expand Up @@ -267,7 +270,9 @@ SpatialRosI::SpatialRosI(const rclcpp::NodeOptions &options)
ahrsBiasTime);
}

spatial_->setAlgorithmMagnetometerGain(algorithm_magnetometer_gain);
if (set_algorithm_magnetometer_gain)
spatial_->setAlgorithmMagnetometerGain(
algorithm_magnetometer_gain);
}

if (has_compass_params)
Expand Down