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AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt

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This commit is contained in:
rmackay9 2012-12-05 09:35:55 +09:00
parent 399fe2e8cd
commit 0092960a68
1 changed files with 4 additions and 1 deletions
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libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -263,7 +263,10 @@ AP_InertialSensor::_init_accel(void (*delay_cb)(unsigned long t), void (*flash_l
}
#if !defined( __AVR_ATmega1280__ )
// perform accelerometer calibration including providing user instructions and feedback
// calibrate_accel - perform accelerometer calibration including providing user instructions and feedback
// Gauss-Newton accel calibration routines borrowed from Rolfe Schmidt
// blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
// original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
bool AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on),
void (*send_msg)(const prog_char_t *, ...),
void (*wait_key)(void))