Avoid duplicate temperature compensation in EAHRS #30863
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…um and control temp compensation
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As explained in issue #25792, there is an issue where EAHRS performs duplicate temperature compensation for certain sensors.
The enum
TempCalibrationof the typeTempCalis adjusted to see if the sensors is of the MicroStrain7 type (as mentioned in the issue) and set the enum asIsTempCalibrated. Else the enum is set asIsNotTempCalibrated.In the inertial sensor section, this enum, which was sent by the message
ins_data_message_t, is checked, and if there is temperature compensation, a new boolIsTempCalibratedis set totrue. This bool then checked at places where temperature compensation due toHAL_INS_TEMPERATURE_CAL_ENABLEoccurs and the code inside is executed if the bool isfalse.