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AP_InertialSensor: use expected update rate for accel cal sampling

This commit is contained in:
Jonathan Challinger 2015-03-21 13:35:19 -07:00
parent bd84328440
commit 1e1d8efa22
1 changed files with 7 additions and 5 deletions
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12
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -508,15 +508,17 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
goto failed;
}
const uint8_t update_dt_milliseconds = (uint8_t)(1000.0f/get_sample_rate()+0.5f);
// wait 100ms for ins filter to rise
for (uint8_t k=0; k<10; k++) {
for (uint8_t k=0; k<100/update_dt_milliseconds; k++) {
wait_for_sample();
update();
hal.scheduler->delay(10);
hal.scheduler->delay(update_dt_milliseconds);
}
uint8_t num_samples = 0;
while (num_samples < 32) {
uint32_t num_samples = 0;
while (num_samples < 1000/update_dt_milliseconds) {
wait_for_sample();
// read samples from ins
update();
@ -534,7 +536,7 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
goto failed;
}
}
hal.scheduler->delay(10);
hal.scheduler->delay(update_dt_milliseconds);
num_samples++;
}
for (uint8_t k=0; k<num_accels; k++) {