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AP_InertialSensor: fixed loop limits 

stops pointless operations
This commit is contained in:
Andrew Tridgell 2013-12-11 14:57:13 +11:00
parent e54fc6b8e3
commit 433ad19335
1 changed files with 5 additions and 3 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
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@ -65,8 +65,10 @@ void AP_InertialSensor_PX4::_set_filter_frequency(uint8_t filter_hz)
if (filter_hz == 0) {
filter_hz = _default_filter_hz;
}
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
for (uint8_t i=0; i<_num_gyro_instances; i++) {
ioctl(_gyro_fd[i], GYROIOCSLOWPASS, filter_hz);
}
for (uint8_t i=0; i<_num_accel_instances; i++) {
ioctl(_accel_fd[i], ACCELIOCSLOWPASS, filter_hz);
}
}
@ -178,7 +180,7 @@ float AP_InertialSensor_PX4::get_gyro_drift_rate(void)
void AP_InertialSensor_PX4::_get_sample(void)
{
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
for (uint8_t i=0; i<_num_accel_instances; i++) {
struct accel_report accel_report;
while (_accel_fd[i] != -1 &&
::read(_accel_fd[i], &accel_report, sizeof(accel_report)) == sizeof(accel_report) &&
@ -187,7 +189,7 @@ void AP_InertialSensor_PX4::_get_sample(void)
_last_accel_timestamp[i] = accel_report.timestamp;
}
}
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
for (uint8_t i=0; i<_num_gyro_instances; i++) {
struct gyro_report gyro_report;
while (_gyro_fd[i] != -1 &&
::read(_gyro_fd[i], &gyro_report, sizeof(gyro_report)) == sizeof(gyro_report) &&