The barometer (MS5611) tcal parameter is suppsoed to be a read-only parameter with a default of 0 right? It was that way until I did a temperature calibration after which both the IMU and the baro tcal parameters got set. How does that work? I tried doing another tcal again and the baro cal parameter hasn’t changed a single digit so I guess it didn’t work the next time?
Anyway I’m glad that it worked because now the barometer’s long term drift seems to have greatly minimized and any drift might probably be my local weather pressure variation (I checked which way it is going and the barometer’s drift seems to be consistent with my weather). Before this, I would say the baro output was almost unusable.
My other query is whether I should be really measuring the RMS error of the barometer over a fixed period of time treating the average value as the actual value and use this for the ALT_M_NSE param to further increase accuracy of altitude estimation. Also is there a way to make the EKF take the average of more number of samples than currently to make the altitude estimate more consistent? I assume the plot as graphed in the Tuning window is what the EKF uses? If so altitude is a bit jumpy
Thanks