From ac3200fd325f94438a2f9b4c38487d708d6f94a7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 30 Jun 2015 10:51:43 +1000
Subject: [PATCH] AP_InertialSensor: make max_abs_offsets a single float, not a
 vector

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp      | 10 +++++-----
 libraries/AP_InertialSensor/AP_InertialSensor.h        |  4 ++--
 .../AP_InertialSensor/AP_InertialSensor_Backend.cpp    |  4 ++--
 .../AP_InertialSensor/AP_InertialSensor_Backend.h      |  2 +-
 .../AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp    |  2 +-
 5 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 9d87bf24d4..7744dc6c90 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -302,7 +302,7 @@ AP_InertialSensor::AP_InertialSensor() :
         _accel_clip_count[i] = 0;
 #endif
 
-        _accel_max_abs_offsets[i] = Vector3f(3.5f, 3.5f, 3.5f);
+        _accel_max_abs_offsets[i] = 3.5f;
     }
     memset(_delta_velocity_valid,0,sizeof(_delta_velocity_valid));
     memset(_delta_angle_valid,0,sizeof(_delta_angle_valid));
@@ -987,7 +987,7 @@ bool AP_InertialSensor::_check_sample_range(const Vector3f accel_sample[6], enum
 bool AP_InertialSensor::_calibrate_accel(const Vector3f accel_sample[6],
                                          Vector3f& accel_offsets,
                                          Vector3f& accel_scale,
-                                         Vector3f& max_abs_offsets,
+                                         float max_abs_offsets,
                                          enum Rotation rotation)
 {
     int16_t i;
@@ -1046,9 +1046,9 @@ bool AP_InertialSensor::_calibrate_accel(const Vector3f accel_sample[6],
     }
 
     if (accel_offsets.is_nan() ||
-            fabsf(accel_offsets.x) > max_abs_offsets.x ||
-            fabsf(accel_offsets.y) > max_abs_offsets.y ||
-            fabsf(accel_offsets.z) > max_abs_offsets.z) {
+        fabsf(accel_offsets.x) > max_abs_offsets ||
+        fabsf(accel_offsets.y) > max_abs_offsets ||
+        fabsf(accel_offsets.z) > max_abs_offsets) {
         success = false;
     }
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index c0a14cdd51..19d53d407d 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -251,7 +251,7 @@ private:
     bool _calibrate_accel(const Vector3f accel_sample[6],
                           Vector3f& accel_offsets,
                           Vector3f& accel_scale,
-                          Vector3f& max_abs_offsets,
+                          float max_abs_offsets,
                           enum Rotation rotation);
     bool _check_sample_range(const Vector3f accel_sample[6], enum Rotation rotation, 
                              AP_InertialSensor_UserInteract* interact);
@@ -297,7 +297,7 @@ private:
     AP_Vector3f _gyro_offset[INS_MAX_INSTANCES];
 
     // accelerometer max absolute offsets to be used for calibration
-    Vector3f _accel_max_abs_offsets[INS_MAX_INSTANCES];
+    float _accel_max_abs_offsets[INS_MAX_INSTANCES];
 
     // temperatures for an instance if available
     float _temperature[INS_MAX_INSTANCES];
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index 1d66890515..068f79bd1b 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -79,9 +79,9 @@ void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f
 }
 
 void AP_InertialSensor_Backend::_set_accel_max_abs_offset(uint8_t instance,
-                                                          const Vector3f offset)
+                                                          float max_offset)
 {
-    _imu._accel_max_abs_offsets[instance] = offset;
+    _imu._accel_max_abs_offsets[instance] = max_offset;
 }
 
 // set accelerometer error_count
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
index 9d1a6b2d9b..081b9fc9c0 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
@@ -74,7 +74,7 @@ protected:
     void _publish_accel(uint8_t instance, const Vector3f &accel, bool rotate_and_correct = true);
 
     // set accelerometer max absolute offset for calibration
-    void _set_accel_max_abs_offset(uint8_t instance, const Vector3f offset);
+    void _set_accel_max_abs_offset(uint8_t instance, float offset);
 
     // publish a temperature value
     void _publish_temperature(uint8_t instance, float temperature);
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
index 66713a96aa..b01ff757e2 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
@@ -483,7 +483,7 @@ bool AP_InertialSensor_LSM9DS0::_init_sensor()
     _gyro_instance = _imu.register_gyro();
     _accel_instance = _imu.register_accel();
 
-    _set_accel_max_abs_offset(_accel_instance, Vector3f(5.0f, 5.0f, 5.0f));
+    _set_accel_max_abs_offset(_accel_instance, 5.0f);
 
  #if LSM9DS0_DEBUG
     _dump_registers();