AP_Compass: fixed zero compass diagonals #22666
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this fixes a regression from 4.2 to 4.3. previously we automatically set the diagnoals to 1,1,1 if they were 0,0,0. We don't do that any more. I was helping a user who had copied an old config with 0,0,0 for diagonals and did not understand two things: - the compass did not work in 4.3 - large vehicle mag cal didn't work
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| mag = mat * mag; | ||
| if (!diagonals.is_zero()) { |
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Any element being zero would be bad in here. I wonder if it would be possible to get into that situation with loaded parameters.
Since this equivalent to what we had pre-regression, it really doesn't matter.
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For accountability it would be good to understand how the mistake was made and if there is a way this kind of error could be avoided in the future. To err is human of course but we should also try and improve. |
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The issues was added in PR to move to doing Vector3f defaults in the table. We used to always set to 1 manually AP_Param didn't handle defaulting of vector parameters. Since we were so aggressive in setting to 1 if 0 prior to that PR i'm not sure how the user would have managed to save a param set where they were zero. I did call this out as a possibility in the PR: #21290 (comment) |
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This is included in Copter-4.3.4-rc1 |
this fixes a regression from 4.2 to 4.3.
previously we automatically set the diagnoals to 1,1,1 if they were 0,0,0. We don't do that any more. I was helping a user who had copied an old config with 0,0,0 for diagonals and did not understand two things:
tested on CubeOrange