Fix orientation detection static variable reset bug in calibration

[Copilot]

The orientation detection process failed to run on subsequent calibration attempts due to a static variable order-of-operations bug. The settlingCompleted flag was checked before the timer initialization logic could reset it.

Changes

• Reordered initialization logic in detectOrientation(): Timer check and static variable reset now occurs before the early return check
• Moved settlingStartTime to function scope: Ensures proper reset alongside other static variables
• Added reset documentation: Clarifies the dependency between orientationDetectTimer == 0 and static variable reset

Technical Detail

Before:

static bool settlingCompleted = false;

if (settlingCompleted) {
    return true;  // Early return prevents reset
}

if (orientationDetectTimer == 0) {
    settlingCompleted = false;  // Never reached on restart
}

After:

static bool settlingCompleted = false;

if (orientationDetectTimer == 0) {
    settlingCompleted = false;  // Reset happens first
}

if (settlingCompleted) {
    return true;  // Check happens after reset
}

When resetCalibrationState() sets orientationDetectTimer = 0, the next call to detectOrientation() now properly resets all static state before checking exit conditions.

Original prompt

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This section details on the original issue you should resolve

<issue_title>Check calibration process for state variables which are not reset correctly</issue_title>
<issue_description>While looking through the code I noticed that the timer for orientation detection is not being propperly reset to ensure that it works correctly each time that calibration is run.

Please inspect the calibration process and make sure that all state variables are properly reset by the end of the run.</issue_description>

Comments on the Issue (you are @copilot in this section)

• Fixes Check calibration process for state variables which are not reset correctly #514

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[BarbourSmith]

@copilot Can you explain to me why orientationDetectTimer will always be 0 at the beginning of the process? Won't it be leftover as something from the last time it ran?

[Copilot]

@copilot Can you explain to me why orientationDetectTimer will always be 0 at the beginning of the process? Won't it be leftover as something from the last time it ran?

orientationDetectTimer is a class member variable (line 155 in Calibration.h, initialized to 0) that gets explicitly reset at two key points:

1. Line 168 (in requestStateChange(CALIBRATION_IN_PROGRESS)): Reset to 0 when entering calibration state at waypoint 0
2. Line 1610 (in resetCalibrationState()): Reset to 0 when calibration completes

So it's never "leftover" from a previous run - the code explicitly sets it to 0 before each calibration begins. This is why my fix works: when the next calibration starts and detectOrientation() is called, orientationDetectTimer == 0 will be true, triggering the reset of static variables like settlingCompleted.