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Blimp: moved accel cal update to vehicle code

This commit is contained in:
Andrew Tridgell 2021-08-17 12:52:48 +10:00
parent dbe0bef58b
commit 65c878c06f
3 changed files with 0 additions and 22 deletions
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1
Blimp/Blimp.cpp
View File

@ -57,7 +57,6 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_InertialSensor, &blimp.ins, periodic, 400, 50), SCHED_TASK_CLASS(AP_InertialSensor, &blimp.ins, periodic, 400, 50),
SCHED_TASK_CLASS(AP_Scheduler, &blimp.scheduler, update_logging, 0.1, 75), SCHED_TASK_CLASS(AP_Scheduler, &blimp.scheduler, update_logging, 0.1, 75),
SCHED_TASK_CLASS(Compass, &blimp.compass, cal_update, 100, 100), SCHED_TASK_CLASS(Compass, &blimp.compass, cal_update, 100, 100),
SCHED_TASK(accel_cal_update, 10, 100),
#if STATS_ENABLED == ENABLED #if STATS_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Stats, &blimp.g2.stats, update, 1, 100), SCHED_TASK_CLASS(AP_Stats, &blimp.g2.stats, update, 1, 100),
#endif #endif

1
Blimp/Blimp.h
View File

@ -427,7 +427,6 @@ private:
bool rangefinder_up_ok(); bool rangefinder_up_ok();
void rpm_update(); void rpm_update();
void update_optical_flow(void); void update_optical_flow(void);
void accel_cal_update(void);
void init_proximity(); void init_proximity();
void update_proximity(); void update_proximity();

20
Blimp/sensors.cpp
View File

@ -7,23 +7,3 @@ void Blimp::read_barometer(void)
baro_alt = barometer.get_altitude() * 100.0f; baro_alt = barometer.get_altitude() * 100.0f;
} }
void Blimp::accel_cal_update()
{
if (hal.util->get_soft_armed()) {
return;
}
ins.acal_update();
// check if new trim values, and set them
float trim_roll, trim_pitch;
if (ins.get_new_trim(trim_roll, trim_pitch)) {
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
#ifdef CAL_ALWAYS_REBOOT
if (ins.accel_cal_requires_reboot()) {
hal.scheduler->delay(1000);
hal.scheduler->reboot(false);
}
#endif
}