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AP_InertialSensor: vector params always use set method

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Iampete1 2022-07-20 10:43:38 +01:00 committed by Peter Hall
parent b025a6d41d
commit 4e4bfda05d
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -1566,12 +1566,12 @@ AP_InertialSensor::_init_gyro()
(unsigned)k, (unsigned)k,
(double)ToDeg(best_diff[k]), (double)ToDeg(best_diff[k]),
(double)GYRO_INIT_MAX_DIFF_DPS); (double)GYRO_INIT_MAX_DIFF_DPS);
_gyro_offset[k] = best_avg[k]; _gyro_offset[k].set(best_avg[k]);
// flag calibration as failed for this gyro // flag calibration as failed for this gyro
_gyro_cal_ok[k] = false; _gyro_cal_ok[k] = false;
} else { } else {
_gyro_cal_ok[k] = true; _gyro_cal_ok[k] = true;
_gyro_offset[k] = new_gyro_offset[k]; _gyro_offset[k].set(new_gyro_offset[k]);
#if HAL_INS_TEMPERATURE_CAL_ENABLE #if HAL_INS_TEMPERATURE_CAL_ENABLE
caltemp_gyro[k].set(0.5 * (get_temperature(k) + start_temperature[k])); caltemp_gyro[k].set(0.5 * (get_temperature(k) + start_temperature[k]));
#endif #endif
@ -2378,8 +2378,8 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
DEV_PRINTF("\nFAILED\n"); DEV_PRINTF("\nFAILED\n");
// restore old values // restore old values
for (uint8_t k=0; k<num_accels; k++) { for (uint8_t k=0; k<num_accels; k++) {
_accel_offset[k] = saved_offsets[k]; _accel_offset[k].set(saved_offsets[k]);
_accel_scale[k] = saved_scaling[k]; _accel_scale[k].set(saved_scaling[k]);
} }
} }