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modify the IMU code for AP_Param

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This commit is contained in:
Andrew Tridgell 2012-02-11 22:53:55 +11:00
parent 32d997b95f
commit 78564f6a92
2 changed files with 9 additions and 4 deletions
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5
libraries/AP_IMU/AP_IMU_INS.cpp
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@ -21,6 +21,11 @@
#include "AP_IMU_INS.h" #include "AP_IMU_INS.h"
const AP_Param::GroupInfo AP_IMU_INS::var_info[] PROGMEM = {
{ AP_PARAM_VECTOR3F, "", VAROFFSET(AP_IMU_INS, _sensor_cal) },
{ AP_PARAM_NONE, "" }
};
void void
AP_IMU_INS::init( Start_style style, AP_IMU_INS::init( Start_style style,
void (*delay_cb)(unsigned long t), void (*delay_cb)(unsigned long t),

8
libraries/AP_IMU/AP_IMU_INS.h
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@ -26,9 +26,8 @@ public:
/// @param adc Pointer to the AP_ADC instance that is connected to the gyro and accelerometer. /// @param adc Pointer to the AP_ADC instance that is connected to the gyro and accelerometer.
/// @param key The AP_Var::key value we will use when loading/saving calibration data. /// @param key The AP_Var::key value we will use when loading/saving calibration data.
/// ///
AP_IMU_INS(AP_InertialSensor *ins, AP_Var::Key key) : AP_IMU_INS(AP_InertialSensor *ins) :
_ins(ins), _ins(ins)
_sensor_cal(key, PSTR("IMU_SENSOR_CAL"))
{} {}
/// Do warm or cold start. /// Do warm or cold start.
@ -65,10 +64,11 @@ public:
virtual void ay(const float v) { _sensor_cal[4] = v; } virtual void ay(const float v) { _sensor_cal[4] = v; }
virtual void az(const float v) { _sensor_cal[5] = v; } virtual void az(const float v) { _sensor_cal[5] = v; }
static const struct AP_Param::GroupInfo var_info[];
private: private:
AP_InertialSensor *_ins; ///< INS provides an axis and unit correct sensor source. AP_InertialSensor *_ins; ///< INS provides an axis and unit correct sensor source.
AP_VarA<float,6> _sensor_cal; ///< Calibrated sensor offsets AP_Vector6f _sensor_cal; ///< Calibrated sensor offsets
virtual void _init_accel(void (*delay_cb)(unsigned long t), virtual void _init_accel(void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation