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AP_InertialSensor: review fixes

This commit is contained in:
Andrew Tridgell 2021-01-20 15:38:24 +11:00 committed by Peter Barker
parent af18e0c755
commit 6c8a57c2d7
3 changed files with 6 additions and 3 deletions
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1
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -739,6 +739,7 @@ public:
void reset(float temperature);
float start_temp;
float start_tmax;
uint32_t last_save_ms;
TCal &tcal;
uint8_t instance(void) const {

3
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
View File

@ -739,9 +739,10 @@ void AP_InertialSensor_LSM9DS0::_read_data_transaction_a()
_notify_new_accel_raw_sample(_accel_instance, accel_data, AP_HAL::micros64());
// read temperature every 10th sample
if (_temp_counter++ % 10 == 0) {
if (_temp_counter == 10) {
int16_t traw;
const uint8_t regtemp = OUT_TEMP_L_XM | 0xC0;
_temp_counter = 0;
if (_dev_accel->transfer(&regtemp, 1, (uint8_t *)&traw, sizeof(traw))) {
_temperature = _temp_filter.apply(traw * 0.125 + 25);
}

5
libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
View File

@ -63,7 +63,7 @@ const AP_Param::GroupInfo AP_InertialSensor::TCal::var_info[] = {
// @Param: TMAX
// @DisplayName: Temperature calibration max
// @Description: The maximum temperature that the calibration is valid for
// @Description: The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
// @Range: -70 80
// @Units: degC
// @User: Advanced
@ -326,9 +326,10 @@ void AP_InertialSensor::TCal::Learn::add_sample(const Vector3f &sample, float te
if (temperature >= start_tmax) {
// we've reached the target temperature
finish_calibration(temperature);
} else {
} else if (now - last_save_ms > 15000) {
// save partial calibration, so if user stops the cal part
// way then they still have a useful calibration
last_save_ms = now;
save_calibration(st.last_temp);
}
}