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AP_InertialSensor: use fixed size arrays 

apparently helps SITL build on MacOS
This commit is contained in:
Andrew Tridgell 2014-02-08 19:18:47 +11:00
parent 82ea5926a8
commit a95a3142e0
1 changed files with 14 additions and 14 deletions
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28
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -148,9 +148,9 @@ void
AP_InertialSensor::_init_gyro()
{
uint8_t num_gyros = min(get_gyro_count(), INS_MAX_INSTANCES);
Vector3f last_average[num_gyros], best_avg[num_gyros];
float best_diff[num_gyros];
bool converged[num_gyros];
Vector3f last_average[INS_MAX_INSTANCES], best_avg[INS_MAX_INSTANCES];
float best_diff[INS_MAX_INSTANCES];
bool converged[INS_MAX_INSTANCES];
// cold start
hal.console->print_P(PSTR("Init Gyro"));
@ -180,8 +180,8 @@ AP_InertialSensor::_init_gyro()
// we try to get a good calibration estimate for up to 10 seconds
// if the gyros are stable, we should get it in 1 second
for (int16_t j = 0; j <= 20 && num_converged < num_gyros; j++) {
Vector3f gyro_sum[num_gyros], gyro_avg[num_gyros], gyro_diff[num_gyros];
float diff_norm[num_gyros];
Vector3f gyro_sum[INS_MAX_INSTANCES], gyro_avg[INS_MAX_INSTANCES], gyro_diff[INS_MAX_INSTANCES];
float diff_norm[INS_MAX_INSTANCES];
uint8_t i;
hal.console->print_P(PSTR("*"));
@ -256,10 +256,10 @@ AP_InertialSensor::_init_accel()
{
uint8_t num_accels = min(get_accel_count(), INS_MAX_INSTANCES);
uint8_t flashcount = 0;
Vector3f prev[num_accels];
Vector3f accel_offset[num_accels];
float total_change[num_accels];
float max_offset[num_accels];
Vector3f prev[INS_MAX_INSTANCES];
Vector3f accel_offset[INS_MAX_INSTANCES];
float total_change[INS_MAX_INSTANCES];
float max_offset[INS_MAX_INSTANCES];
// cold start
hal.scheduler->delay(100);
@ -360,11 +360,11 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
float &trim_pitch)
{
uint8_t num_accels = min(get_accel_count(), INS_MAX_INSTANCES);
Vector3f samples[num_accels][6];
Vector3f new_offsets[num_accels];
Vector3f new_scaling[num_accels];
Vector3f orig_offset[num_accels];
Vector3f orig_scale[num_accels];
Vector3f samples[INS_MAX_INSTANCES][6];
Vector3f new_offsets[INS_MAX_INSTANCES];
Vector3f new_scaling[INS_MAX_INSTANCES];
Vector3f orig_offset[INS_MAX_INSTANCES];
Vector3f orig_scale[INS_MAX_INSTANCES];
uint8_t num_ok = 0;
for (uint8_t k=0; k<num_accels; k++) {