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AP_DAL: remove separate calls to get delta-times for vel and ang

This commit is contained in:
Peter Barker 2021-02-12 08:34:36 +11:00 committed by Peter Barker
parent ea1884f491
commit a0fcd74b52
2 changed files with 6 additions and 10 deletions
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6
libraries/AP_DAL/AP_DAL_InertialSensor.cpp
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@ -32,15 +32,13 @@ void AP_DAL_InertialSensor::start_frame()
// accel data // accel data
RISI.use_accel = ins.use_accel(i); RISI.use_accel = ins.use_accel(i);
if (RISI.use_accel) { if (RISI.use_accel) {
RISI.get_delta_velocity_ret = ins.get_delta_velocity(i, RISI.delta_velocity); RISI.get_delta_velocity_ret = ins.get_delta_velocity(i, RISI.delta_velocity, RISI.delta_velocity_dt);
RISI.delta_velocity_dt = ins.get_delta_velocity_dt(i);
} }
// gryo data // gryo data
RISI.use_gyro = ins.use_gyro(i); RISI.use_gyro = ins.use_gyro(i);
if (RISI.use_gyro) { if (RISI.use_gyro) {
RISI.delta_angle_dt = ins.get_delta_angle_dt(i); RISI.get_delta_angle_ret = ins.get_delta_angle(i, RISI.delta_angle, RISI.delta_angle_dt);
RISI.get_delta_angle_ret = ins.get_delta_angle(i, RISI.delta_angle);
} }
update_filtered(i); update_filtered(i);

10
libraries/AP_DAL/AP_DAL_InertialSensor.h
View File

@ -24,13 +24,11 @@ public:
bool use_accel(uint8_t instance) const { return _RISI[instance].use_accel; } bool use_accel(uint8_t instance) const { return _RISI[instance].use_accel; }
const Vector3f &get_accel(uint8_t i) const { return accel_filtered[i]; } const Vector3f &get_accel(uint8_t i) const { return accel_filtered[i]; }
bool get_delta_velocity(uint8_t i, Vector3f &delta_velocity) const { bool get_delta_velocity(uint8_t i, Vector3f &delta_velocity, float &delta_velocity_dt) const {
delta_velocity = _RISI[i].delta_velocity; delta_velocity = _RISI[i].delta_velocity;
delta_velocity_dt = _RISI[i].delta_velocity_dt;
return _RISI[i].get_delta_velocity_ret; return _RISI[i].get_delta_velocity_ret;
} }
float get_delta_velocity_dt(uint8_t i) const {
return _RISI[i].delta_velocity_dt;
}
// gyro stuff // gyro stuff
uint8_t get_gyro_count(void) const { return _RISH.gyro_count; } uint8_t get_gyro_count(void) const { return _RISH.gyro_count; }
@ -39,11 +37,11 @@ public:
bool use_gyro(uint8_t instance) const { return _RISI[instance].use_gyro; } bool use_gyro(uint8_t instance) const { return _RISI[instance].use_gyro; }
const Vector3f &get_gyro(uint8_t i) const { return gyro_filtered[i]; } const Vector3f &get_gyro(uint8_t i) const { return gyro_filtered[i]; }
const Vector3f &get_gyro() const { return get_gyro(_primary_gyro); } const Vector3f &get_gyro() const { return get_gyro(_primary_gyro); }
bool get_delta_angle(uint8_t i, Vector3f &delta_angle) const { bool get_delta_angle(uint8_t i, Vector3f &delta_angle, float &delta_angle_dt) const {
delta_angle = _RISI[i].delta_angle; delta_angle = _RISI[i].delta_angle;
delta_angle_dt = _RISI[i].delta_angle_dt;
return _RISI[i].get_delta_angle_ret; return _RISI[i].get_delta_angle_ret;
} }
float get_delta_angle_dt(uint8_t i) const { return _RISI[i].delta_angle_dt; }
// return the main loop delta_t in seconds // return the main loop delta_t in seconds
float get_loop_delta_t(void) const { return _RISH.loop_delta_t; } float get_loop_delta_t(void) const { return _RISH.loop_delta_t; }