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AP_InertialSensor: Backend: calculate vibration and clipping on new raw sample

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This is a good way of letting each implementation easily calculate vibration
and clipping: all they need to do is publish their sample rate and they don't
need to worry about the call for calculation.
This commit is contained in:
Gustavo Jose de Sousa 2015-08-27 16:18:42 -03:00 committed by Andrew Tridgell
parent e06627dfcb
commit 6aa973dd47
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
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@ -73,6 +73,12 @@ void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f
void AP_InertialSensor_Backend::_notify_new_accel_raw_sample(uint8_t instance,
const Vector3f &accel)
{
#if INS_VIBRATION_CHECK
if (_imu._accel_sample_rates[instance] > 0) {
float dt = 1.0f / _imu._accel_sample_rates[instance];
_imu.calc_vibration_and_clipping(instance, accel, dt);
}
#endif
}
void AP_InertialSensor_Backend::_set_accel_max_abs_offset(uint8_t instance,