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IMU: move _sensor_cal to general IMU class

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this makes it available both in shim and INS subclasses
This commit is contained in:
Andrew Tridgell 2012-02-18 10:39:05 +11:00
parent 2b8f0c3a48
commit 371a91cfcf
4 changed files with 12 additions and 8 deletions
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5
libraries/AP_IMU/AP_IMU_INS.cpp
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@ -21,11 +21,6 @@
#include "AP_IMU_INS.h" #include "AP_IMU_INS.h"
const AP_Param::GroupInfo AP_IMU_INS::var_info[] PROGMEM = {
AP_GROUPINFO("CAL", 0, AP_IMU_INS, _sensor_cal),
AP_GROUPEND
};
void void
AP_IMU_INS::init( Start_style style, AP_IMU_INS::init( Start_style style,
void (*delay_cb)(unsigned long t), void (*delay_cb)(unsigned long t),

3
libraries/AP_IMU/AP_IMU_INS.h
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@ -64,11 +64,8 @@ public:
virtual void ay(const float v) { _sensor_cal[4] = v; } virtual void ay(const float v) { _sensor_cal[4] = v; }
virtual void az(const float v) { _sensor_cal[5] = v; } virtual void az(const float v) { _sensor_cal[5] = v; }
static const struct AP_Param::GroupInfo var_info[];
private: private:
AP_InertialSensor *_ins; ///< INS provides an axis and unit correct sensor source. AP_InertialSensor *_ins; ///< INS provides an axis and unit correct sensor source.
AP_Vector6f _sensor_cal; ///< Calibrated sensor offsets
virtual void _init_accel(void (*delay_cb)(unsigned long t), virtual void _init_accel(void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation

7
libraries/AP_IMU/IMU.cpp
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@ -1,6 +1,13 @@
#include "IMU.h" #include "IMU.h"
// this allows the sensor calibration to be saved to EEPROM
const AP_Param::GroupInfo IMU::var_info[] PROGMEM = {
AP_GROUPINFO("CAL", 0, IMU, _sensor_cal),
AP_GROUPEND
};
/* Empty implementations for the IMU functions. /* Empty implementations for the IMU functions.
* Although these will never be used, in certain situations with * Although these will never be used, in certain situations with
* optimizations turned off, having empty implementations in an object * optimizations turned off, having empty implementations in an object

5
libraries/AP_IMU/IMU.h
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@ -104,7 +104,12 @@ public:
virtual void ay(const float v); virtual void ay(const float v);
virtual void az(const float v); virtual void az(const float v);
static const struct AP_Param::GroupInfo var_info[];
protected: protected:
AP_Vector6f _sensor_cal; ///< Calibrated sensor offsets
/// Most recent accelerometer reading obtained by ::update /// Most recent accelerometer reading obtained by ::update
Vector3f _accel; Vector3f _accel;
Vector3f _accel_filtered; Vector3f _accel_filtered;