BUG: Calibration routine uses raw field instead of compensated field

Substracting the ambient field from the set magnetic field values during calibration, no longer substract initial offset measurement from all readings

src/calibration.py

@@ -476,14 +476,15 @@ class MagnetometerCalibrationComplete(Thread):
         for vec_idx, test_vec in enumerate(test_vectors):
             # Command output
             applied_vec = test_vec * self.calibration_mag_field
-            self.cage_dev.set_field_raw(applied_vec)
+            self.cage_dev.set_field_compensated(applied_vec)  # Set compensated field not raw field
 
             # Sleep for a certain duration to allow psu to stabilize output and magnetometer to supply readings
             time.sleep(self.calibration_interval)
 
             # Read output and save to array for solver later
             raw_reading = g.MAGNETOMETER.field
-            reading = raw_reading - offsets
+            # reading = raw_reading - offsets
+            reading = raw_reading  # Do not substract offset since it will artificially suppress (hard-iron) offsets
             for i in range(3):
                 row = {'m': reading[i], 'b_x': applied_vec[0], 'b_y': applied_vec[1], 'b_z': applied_vec[2]}
                 # self.put_message("[Axis {}] {}".format(i, row))