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INS: disable accel calibration on the 1280

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this would put us well over 128k in sketch size
This commit is contained in:
Andrew Tridgell 2012-11-20 18:41:04 +11:00
parent 98a806fb90
commit 4174cfd4a7
3 changed files with 12 additions and 0 deletions
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4
ArduPlane/setup.pde
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@ -22,7 +22,9 @@ static const struct Menu::command setup_menu_commands[] PROGMEM = {
{"radio", setup_radio},
{"modes", setup_flightmodes},
{"level", setup_level},
#if !defined( __AVR_ATmega1280__ )
{"accel", setup_accel_scale},
#endif
{"compass", setup_compass},
{"declination", setup_declination},
{"battery", setup_batt_monitor},
@ -299,6 +301,7 @@ setup_level(uint8_t argc, const Menu::arg *argv)
return 0;
}
#if !defined( __AVR_ATmega1280__ )
static int8_t
setup_accel_scale(uint8_t argc, const Menu::arg *argv)
{
@ -307,6 +310,7 @@ setup_accel_scale(uint8_t argc, const Menu::arg *argv)
report_ins();
return(0);
}
#endif
static int8_t
setup_compass(uint8_t argc, const Menu::arg *argv)

4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -231,6 +231,7 @@ 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
bool AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on), void (*send_msg)(const prog_char_t *, ...))
{
@ -472,3 +473,6 @@ void AP_InertialSensor::_calibrate_find_delta(float dS[6], float JS[6][6], float
delta[i] = dS[i];
}
}
#endif // __AVR_ATmega1280__

4
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -49,10 +49,12 @@ public:
///
virtual void init_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on));
#if !defined( __AVR_ATmega1280__ )
// perform accelerometer calibration including providing user instructions and feedback
virtual bool calibrate_accel(void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on) = NULL,
void (*send_msg)(const prog_char_t *, ...) = NULL);
#endif
/// Perform cold-start initialisation for just the gyros.
///
@ -140,11 +142,13 @@ protected:
virtual void _init_gyro(void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on) = NULL);
#if !defined( __AVR_ATmega1280__ )
// _calibrate_accel - perform low level accel calibration
virtual bool _calibrate_accel(Vector3f accel_sample[6], Vector3f& accel_offsets, Vector3f& accel_scale);
virtual void _calibrate_update_matrices(float dS[6], float JS[6][6], float beta[6], float data[3]);
virtual void _calibrate_reset_matrices(float dS[6], float JS[6][6]);
virtual void _calibrate_find_delta(float dS[6], float JS[6][6], float delta[6]);
#endif
// save parameters to eeprom
void _save_parameters();