User Manual

Prime User Manual r08 Page 45
7.3.18 kUserCalScore (frame ID 18d)
This frame contains the calibration score, which is presented after completing or aborting
a calibration. It is a series of Float32 values as shown in the payload diagram below.
Payload
StdDevErr xCoverage yCoverage zCoverage xyzAccelCoverage
Float32 Float32 Float32 Float32 Float32
accelStdDevErr
Float32
Note: If a kStopCal command is sent to abort a calibration, values that were to be updated will
be set to “-1” except for xyzAccelCoverage, which will be “-101.01”. Values for parameters that
were not being updated will reflect the last calibration values. For example, if a Magnet Sensor
Only Calibration is aborted, then StdDevErr, xCoverage, yCoverage, and zCoverage will all report
-1, while the xyzAccelCoverage and accelStdDevErr will report values from the last successful
accelerometer calibration.
StdDevErr
Provides the magnetic field calibration’s standard deviation error and represents the
overall quality of the calibration. Smaller numbers are better, and a reasonable target
value ~0.1. However, acceptable performance can be obtained with somewhat higher
scores. The possible obtainable score will be a function of the host system, the
specific Prime module, and the execution of the calibration procedure.
xCoverage, yCoverage, & zCoverage
Provides the percentage of the X, Y, or Z magnetic sensor axis covered by the
sampling. Note that the only way to get a zCoverage value greater than 50% is to
take some points with the module upside down.
xyzAccelCoverage
Provides the percentage of the accelerometer axes covered by the sampling, formatted
as XXYY.ZZ. XX is the X axis coverage, YY is the Y axis coverage and ZZ is the Z
axis coverage. For example xyzAccelCoverage = 8590.67 means accelerometer X
coverage is 85%, Y coverage is 90% and Z coverage is 67%.
accelStdDevErr
Similar to StdDevErr, except this is for accelerometer calibration. A reasonable
target accelStdDevErr value is ~2, but acceptable compass performance can be
obtained with somewhat higher scores.
7.3.19 kSetConfigDone (frame ID 19
d
)
This frame is the response to kSetConfig frame. The frame has no payload.