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AP_InertialSensor: changes from review feedback

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Andrew Tridgell 2021-01-20 15:07:15 +11:00 committed by Peter Barker
parent 58b9cd2c6e
commit 3ff71c7814
3 changed files with 12 additions and 12 deletions
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20
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -576,7 +576,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @User: Advanced // @User: Advanced
// @Units: degC // @Units: degC
// @Calibration: 1 // @Calibration: 1
AP_GROUPINFO("ACC1_CALTEMP", 46, AP_InertialSensor, caltemp_accel[0], -100), AP_GROUPINFO("ACC1_CALTEMP", 46, AP_InertialSensor, caltemp_accel[0], -300),
// @Param: GYR1_CALTEMP // @Param: GYR1_CALTEMP
// @DisplayName: Calibration temperature for 1st gyroscope // @DisplayName: Calibration temperature for 1st gyroscope
@ -584,7 +584,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @User: Advanced // @User: Advanced
// @Units: degC // @Units: degC
// @Calibration: 1 // @Calibration: 1
AP_GROUPINFO("GYR1_CALTEMP", 47, AP_InertialSensor, caltemp_gyro[0], -100), AP_GROUPINFO("GYR1_CALTEMP", 47, AP_InertialSensor, caltemp_gyro[0], -300),
#if INS_MAX_INSTANCES > 1 #if INS_MAX_INSTANCES > 1
// @Param: ACC2_CALTEMP // @Param: ACC2_CALTEMP
@ -593,7 +593,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @User: Advanced // @User: Advanced
// @Units: degC // @Units: degC
// @Calibration: 1 // @Calibration: 1
AP_GROUPINFO("ACC2_CALTEMP", 48, AP_InertialSensor, caltemp_accel[1], -100), AP_GROUPINFO("ACC2_CALTEMP", 48, AP_InertialSensor, caltemp_accel[1], -300),
// @Param: GYR2_CALTEMP // @Param: GYR2_CALTEMP
// @DisplayName: Calibration temperature for 2nd gyroscope // @DisplayName: Calibration temperature for 2nd gyroscope
@ -601,7 +601,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @User: Advanced // @User: Advanced
// @Units: degC // @Units: degC
// @Calibration: 1 // @Calibration: 1
AP_GROUPINFO("GYR2_CALTEMP", 49, AP_InertialSensor, caltemp_gyro[1], -100), AP_GROUPINFO("GYR2_CALTEMP", 49, AP_InertialSensor, caltemp_gyro[1], -300),
#endif #endif
#if INS_MAX_INSTANCES > 2 #if INS_MAX_INSTANCES > 2
@ -611,7 +611,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @User: Advanced // @User: Advanced
// @Units: degC // @Units: degC
// @Calibration: 1 // @Calibration: 1
AP_GROUPINFO("ACC3_CALTEMP", 50, AP_InertialSensor, caltemp_accel[2], -100), AP_GROUPINFO("ACC3_CALTEMP", 50, AP_InertialSensor, caltemp_accel[2], -300),
// @Param: GYR3_CALTEMP // @Param: GYR3_CALTEMP
// @DisplayName: Calibration temperature for 3rd gyroscope // @DisplayName: Calibration temperature for 3rd gyroscope
@ -619,7 +619,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @User: Advanced // @User: Advanced
// @Units: degC // @Units: degC
// @Calibration: 1 // @Calibration: 1
AP_GROUPINFO("GYR3_CALTEMP", 51, AP_InertialSensor, caltemp_gyro[2], -100), AP_GROUPINFO("GYR3_CALTEMP", 51, AP_InertialSensor, caltemp_gyro[2], -300),
#endif #endif
// @Param: TCAL_OPTIONS // @Param: TCAL_OPTIONS
@ -1482,7 +1482,7 @@ void AP_InertialSensor::_save_gyro_calibration()
_gyro_offset[i].set_and_save(Vector3f()); _gyro_offset[i].set_and_save(Vector3f());
_gyro_id[i].set_and_save(0); _gyro_id[i].set_and_save(0);
#if HAL_INS_TEMPERATURE_CAL_ENABLE #if HAL_INS_TEMPERATURE_CAL_ENABLE
caltemp_gyro[i].set_and_save_ifchanged(-100); caltemp_gyro[i].set_and_save_ifchanged(-300);
#endif #endif
} }
} }
@ -1968,7 +1968,7 @@ bool AP_InertialSensor::is_still()
// return true if we are in a calibration // return true if we are in a calibration
bool AP_InertialSensor::calibrating() const bool AP_InertialSensor::calibrating() const
{ {
return _calibrating_accel || _calibrating_gyro || (_acal && _acal->active()); return _calibrating_accel || _calibrating_gyro || (_acal && _acal->running());
} }
/// calibrating - returns true if a temperature calibration is running /// calibrating - returns true if a temperature calibration is running
@ -2053,7 +2053,7 @@ void AP_InertialSensor::_acal_save_calibrations()
_accel_offset[i].set_and_save(Vector3f()); _accel_offset[i].set_and_save(Vector3f());
_accel_scale[i].set_and_save(Vector3f()); _accel_scale[i].set_and_save(Vector3f());
#if HAL_INS_TEMPERATURE_CAL_ENABLE #if HAL_INS_TEMPERATURE_CAL_ENABLE
caltemp_accel[i].set_and_save(-100); caltemp_accel[i].set_and_save(-300);
#endif #endif
} }
} }
@ -2064,7 +2064,7 @@ void AP_InertialSensor::_acal_save_calibrations()
_accel_offset[i].set_and_save(Vector3f()); _accel_offset[i].set_and_save(Vector3f());
_accel_scale[i].set_and_save(Vector3f()); _accel_scale[i].set_and_save(Vector3f());
#if HAL_INS_TEMPERATURE_CAL_ENABLE #if HAL_INS_TEMPERATURE_CAL_ENABLE
caltemp_accel[i].set_and_save_ifchanged(-100); caltemp_accel[i].set_and_save_ifchanged(-300);
#endif #endif
} }

2
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
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@ -101,7 +101,7 @@ void AP_InertialSensor_Backend::_rotate_and_correct_accel(uint8_t instance, Vect
} }
#endif #endif
if (!_imu._calibrating_accel && (_imu._acal == nullptr || !_imu._acal->active())) { if (!_imu._calibrating_accel && (_imu._acal == nullptr || !_imu._acal->running())) {
#if HAL_INS_TEMPERATURE_CAL_ENABLE #if HAL_INS_TEMPERATURE_CAL_ENABLE
// apply temperature corrections // apply temperature corrections

2
libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
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@ -378,7 +378,7 @@ void AP_InertialSensor::TCal::Learn::reset(float temperature)
memset(state, 0, sizeof(state)); memset(state, 0, sizeof(state));
start_tmax = tcal.temp_max; start_tmax = tcal.temp_max;
accel_start.zero(); accel_start.zero();
for (uint8_t i=0; i<2; i++) { for (uint8_t i=0; i<ARRAY_SIZE(state); i++) {
state[i].temp_filter.set_cutoff_frequency(1000, 0.5); state[i].temp_filter.set_cutoff_frequency(1000, 0.5);
state[i].temp_filter.reset(temperature); state[i].temp_filter.reset(temperature);
state[i].last_temp = temperature; state[i].last_temp = temperature;