DEV-922 Update API_00008 CAL expectations for the gen-2 default alignment - #283
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jyong15 merged 1 commit intoAug 4, 2026
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…ment The four CAL regression-lock assertions in test001 still expected identity alignment and fail against the upstreamed gen-2 defaults: calibrated accel/gyro X/Y/Z now come from raw Y/Z/X. Recompute the literals for the applied alignment, extend the lock to all three axes of accel and gyro, and add mag CAL assertions so the 667 LSB/Gauss sensitivity and the left-handed mag alignment (X/Z/Y) are pinned at the data level for the first time. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01WaUPkLZVnndWPEixyHcbVy
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Pull request overview
Updates the gen-2 Verisense tagged-FIFO parsing unit test to match the upstreamed default alignment and magnetometer calibration behavior, preventing CI regression failures after the gen-2 defaults change.
Changes:
- Adjusted accel/gyro CAL literal expectations to reflect the gen-2 default axis alignment (raw Y/Z/X → calibrated X/Y/Z).
- Expanded accel/gyro CAL assertions to include Z-axis locks (previously only X/Y).
- Added mag CAL assertions, pinning the 667 LSB/Gauss sensitivity and mag axis alignment (raw X/Z/Y → calibrated X/Y/Z).
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What
Fixes the one confirmed blocker from the adversarial review of #282:
API_00008_VerisenseLsm6dsvTaggedFifoParsing.test001regression-locks calibration output against literal expected values, and its four CAL assertions still expected identity alignment — so the test fails against this branch's upstreamed gen-2 defaults (expected:<0.11971…> but was:<-0.23942…>). The test runs in CI via theShimmerDriverPCbuild, so #282 would go red on merge without this.Changes (test-only, one file)
{{0,1,0},{0,0,1},{1,0,0}}: calibrated accel/gyro X/Y/Z now come from raw Y/Z/X (e.g.ACC_Xexpects-200/835.3517instead of100/835.3517).Validation
API_00008_VerisenseLsm6dsvTaggedFifoParsing: 4/4 green on this branch (was 1 failure).:ShimmerDrivertest suite: 51 tests across 6 classes, 0 failures.Jira: DEV-922
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https://claude.ai/code/session_01WaUPkLZVnndWPEixyHcbVy
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