firmware: add persistent level calibration

2026-07-17 02:37:49 -06:00
parent fb2ca464b9
commit 4f96902068
9 changed files with 212 additions and 9 deletions
@@ -0,0 +1,26 @@
+#pragma once
+#include "sensor_state.h"
+
+struct LevelCalibrationState {
+    bool valid = false;
+    bool active = false;
+    float pitchOffsetDegrees = 0;
+    float rollOffsetDegrees = 0;
+    unsigned long startedMs = 0;
+    unsigned long lastSampleMs = 0;
+    uint32_t sampleCount = 0;
+    float pitchSum = 0;
+    float rollSinSum = 0;
+    float rollCosSum = 0;
+    float firstPitch = 0;
+    float firstRoll = 0;
+};
+
+extern LevelCalibrationState levelCalibration;
+void initLevelCalibration();
+bool startLevelCalibration(const ImuState& imu);
+bool updateLevelCalibration(const ImuState& imu, String& result);
+void clearLevelCalibration();
+float calibratedPitchDegrees(const ImuState& imu);
+float calibratedRollDegrees(const ImuState& imu);
+