Snap for 4784261 from c38f7821ce07c8395913e96c03b2c13680fa05a4 to pi-release

Change-Id: I87531d4762c5427c06d8b6b935d078362549bacc

6 files changed, 17 insertions, 24 deletions

diff --git a/firmware/os/algos/calibration/diversity_checker/diversity_checker.h b/firmware/os/algos/calibration/diversity_checker/diversity_checker.h
index fe951961..c38549b3 100644
--- a/firmware/os/algos/calibration/diversity_checker/diversity_checker.h
+++ b/firmware/os/algos/calibration/diversity_checker/diversity_checker.h
@@ -48,6 +48,11 @@
 #include <stddef.h>
 #include <stdint.h>
 
+#if defined(MAG_CAL_DEBUG_ENABLE) && !defined(DIVERSE_DEBUG_ENABLE)
+// Ensures that diversity messaging is set when mag_cal debugging is enabled.
+#define DIVERSE_DEBUG_ENABLE
+#endif  // MAG_CAL_DEBUG_ENABLE && !DIVERSE_DEBUG_ENABLE
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/firmware/os/algos/calibration/magnetometer/mag_cal/mag_cal.h b/firmware/os/algos/calibration/magnetometer/mag_cal/mag_cal.h
index bbc079cb..566afa88 100644
--- a/firmware/os/algos/calibration/magnetometer/mag_cal/mag_cal.h
+++ b/firmware/os/algos/calibration/magnetometer/mag_cal/mag_cal.h
@@ -17,11 +17,6 @@
 #ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_MAGNETOMETER_MAG_CAL_MAG_CAL_H_
 #define LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_MAGNETOMETER_MAG_CAL_MAG_CAL_H_
 
-#ifdef MAG_CAL_DEBUG_ENABLE
-// Enables diversity debug messages if mag_cal debugging is enabled.
-#define DIVERSE_DEBUG_ENABLE
-#endif  // MAG_CAL_DEBUG_ENABLE
-
 #include <stdbool.h>
 #include <stdint.h>
 #include <sys/types.h>
diff --git a/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc b/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc
index a5de5d7e..d57d9903 100644
--- a/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc
+++ b/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc
@@ -208,7 +208,7 @@ bool NanoSensorCal::NotifyAshCalibration(
   ash_cal_info.compMatrix[8] = 1.0f;
   memcpy(ash_cal_info.bias, cal_data.offset, sizeof(ash_cal_info.bias));
 
-  // Sets the appropriate calibration accuracy level.
+  // Maps CalibrationQualityLevel to ASH calibration accuracy.
   switch (cal_data.calibration_quality.level) {
     case online_calibration::CalibrationQualityLevel::HIGH_QUALITY:
       ash_cal_info.accuracy = ASH_CAL_ACCURACY_HIGH;
@@ -219,10 +219,12 @@ bool NanoSensorCal::NotifyAshCalibration(
       break;
 
     case online_calibration::CalibrationQualityLevel::LOW_QUALITY:
-    // FALLTHROUGH_INTENTIONAL.
-    default:
       ash_cal_info.accuracy = ASH_CAL_ACCURACY_LOW;
       break;
+
+    default:
+      ash_cal_info.accuracy = ASH_CAL_ACCURACY_UNRELIABLE;
+      break;
   }
 
   if (!ashSetCalibration(chreSensorType, &ash_cal_info)) {
@@ -233,6 +235,7 @@ bool NanoSensorCal::NotifyAshCalibration(
   // Uses the ASH API to store ONLY the algorithm calibration parameters that
   // have been modified by the calibration algorithm.
   ashCalParams ash_cal_parameters;
+  memset(&ash_cal_parameters, 0, sizeof(ashCalParams));
   if (flags & CalibrationTypeFlags::BIAS) {
     ash_cal_parameters.offsetTempCelsius = cal_data.offset_temp_celsius;
     memcpy(ash_cal_parameters.offset, cal_data.offset,
diff --git a/firmware/os/algos/calibration/online_calibration/common_data/online_calibration.h b/firmware/os/algos/calibration/online_calibration/common_data/online_calibration.h
index c8930652..59e26bae 100644
--- a/firmware/os/algos/calibration/online_calibration/common_data/online_calibration.h
+++ b/firmware/os/algos/calibration/online_calibration/common_data/online_calibration.h
@@ -91,17 +91,6 @@ class OnlineCalibration {
     calibration_callback_ = calibration_callback;
   }
 
-  // This provides operational feedback to the system based on status such as
-  // active sensors and sampling rates. Feedback may include adjusting
-  // system-level settings including sensor sampling rate, latency,
-  // active/passive subscription, etc. Returns "true" if a system setting is
-  // requested to change.
-  // TODO(davejacobs) -- Determine implementation details.
-  virtual bool UpdateDynamicSystemSettings(
-      /*System Parameters In, System Feedback Out*/) const {
-    return false;
-  }
-
   // Returns the sensor-type this calibration algorithm provides updates for.
   virtual SensorType get_sensor_type() const = 0;
 
diff --git a/firmware/os/algos/calibration/online_calibration/magnetometer/mag_diverse_cal/mag_diverse_cal.cc b/firmware/os/algos/calibration/online_calibration/magnetometer/mag_diverse_cal/mag_diverse_cal.cc
index a4b4dfd7..fe787b1a 100644
--- a/firmware/os/algos/calibration/online_calibration/magnetometer/mag_diverse_cal/mag_diverse_cal.cc
+++ b/firmware/os/algos/calibration/online_calibration/magnetometer/mag_diverse_cal/mag_diverse_cal.cc
@@ -84,9 +84,9 @@ bool MagDiverseCal::SetInitialCalibration(
   // Sync's all initial calibration data.
   cal_data_ = input_cal_data;
 
-  // Sets the calibration quality.
-  cal_data_.calibration_quality.level = CalibrationQualityLevel::LOW_QUALITY;
-  cal_data_.calibration_quality.value = kLowQualityUt;
+  // Sets the calibration quality to undetermined (uncertain magnetic history
+  // makes the usefulness of the input calibration value unknown).
+  cal_data_.calibration_quality.reset();
 
   return true;
 }
diff --git a/firmware/os/algos/calibration/online_calibration/magnetometer/mag_diverse_cal/mag_diverse_cal.h b/firmware/os/algos/calibration/online_calibration/magnetometer/mag_diverse_cal/mag_diverse_cal.h
index 212ffeb9..11ede3d4 100644
--- a/firmware/os/algos/calibration/online_calibration/magnetometer/mag_diverse_cal/mag_diverse_cal.h
+++ b/firmware/os/algos/calibration/online_calibration/magnetometer/mag_diverse_cal/mag_diverse_cal.h
@@ -34,8 +34,9 @@ namespace online_calibration {
  *   Initialize             --> CalibrationQualityLevel::UNDETERMINED
  *                              CalibrationQuality.value =
  *                                kUndeterminedCalibrationQuality
- *   SetInitialCalibration  --> CalibrationQualityLevel::LOW_QUALITY
- *                              CalibrationQuality.value = kLowQualityUt
+ *   SetInitialCalibration  --> CalibrationQualityLevel::UNDETERMINED
+ *                              CalibrationQuality.value =
+ *                                kUndeterminedCalibrationQuality
  *   New Calibration Update --> CalibrationQualityLevel::HIGH_QUALITY
  *                              CalibrationQuality.value = kHighQualityUt
  */