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uncrustify libraries/AP_IMU/AP_IMU_INS.cpp

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uncrustify 2012-08-16 23:19:49 -07:00 committed by Pat Hickey
parent a5ed2f9a53
commit 5a2ec6843e
1 changed files with 74 additions and 74 deletions
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8
libraries/AP_IMU/AP_IMU_INS.cpp
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@ -171,19 +171,19 @@ AP_IMU_INS::_init_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)
_ins->update(); _ins->update();
_ins->get_accels(ins_accel); _ins->get_accels(ins_accel);
for (int j = 3; j <= 5; j++){ for (int j = 3; j <= 5; j++) {
prev[j] = _sensor_cal[j]; prev[j] = _sensor_cal[j];
adc_in = ins_accel[j-3]; adc_in = ins_accel[j-3];
_sensor_cal[j] = adc_in; _sensor_cal[j] = adc_in;
} }
for(int i = 0; i < 50; i++){ // We take some readings... for(int i = 0; i < 50; i++) { // We take some readings...
delay_cb(20); delay_cb(20);
_ins->update(); _ins->update();
_ins->get_accels(ins_accel); _ins->get_accels(ins_accel);
for (int j = 3; j < 6; j++){ for (int j = 3; j < 6; j++) {
adc_in = ins_accel[j-3]; adc_in = ins_accel[j-3];
_sensor_cal[j] = _sensor_cal[j] * 0.9 + adc_in * 0.1; _sensor_cal[j] = _sensor_cal[j] * 0.9 + adc_in * 0.1;
} }
@ -213,7 +213,7 @@ AP_IMU_INS::_init_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)
Serial.printf_P(PSTR(" ")); Serial.printf_P(PSTR(" "));
} }
float float
AP_IMU_INS::_calibrated(uint8_t channel, float ins_value) AP_IMU_INS::_calibrated(uint8_t channel, float ins_value)
{ {
return ins_value - _sensor_cal[channel]; return ins_value - _sensor_cal[channel];