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Only set magnetometer gain if param is set #170

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Merged
merged 1 commit into from
Nov 27, 2023
Merged

Only set magnetometer gain if param is set #170

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1 change: 1 addition & 0 deletions phidgets_spatial/launch/spatial.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
<param name="ahrs_bias_time" value="1.25"/> -->

# optional param algorithm_magnetometer_gain, default is 0.005
# WARNING: do not set on PhidgetSpatial MOT0110 onwards (not supported)!
<!-- <param name="algorithm_magnetometer_gain" value="0.005"/> -->

# optional param heating_enabled, not modified by default
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11 changes: 8 additions & 3 deletions phidgets_spatial/src/spatial_ros_i.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,11 +96,14 @@ SpatialRosI::SpatialRosI(ros::NodeHandle nh, ros::NodeHandle nh_private)
nh_private_.getParam("ahrs_bias_time", ahrsBiasTime);

double algorithm_magnetometer_gain;
bool set_algorithm_magnetometer_gain = true;
if (!nh_private_.getParam("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 @@ -272,7 +275,9 @@ SpatialRosI::SpatialRosI(ros::NodeHandle nh, ros::NodeHandle nh_private)
ahrsBiasTime);
}

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

if (has_compass_params)
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