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AP_InertialSensor: make max_abs_offsets a single float, not a vector

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This commit is contained in:
Andrew Tridgell 2015-06-30 10:51:43 +10:00
parent 0fcd98c804
commit ac3200fd32
5 changed files with 11 additions and 11 deletions
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10
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -302,7 +302,7 @@ AP_InertialSensor::AP_InertialSensor() :
_accel_clip_count[i] = 0; _accel_clip_count[i] = 0;
#endif #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_velocity_valid,0,sizeof(_delta_velocity_valid));
memset(_delta_angle_valid,0,sizeof(_delta_angle_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], bool AP_InertialSensor::_calibrate_accel(const Vector3f accel_sample[6],
Vector3f& accel_offsets, Vector3f& accel_offsets,
Vector3f& accel_scale, Vector3f& accel_scale,
Vector3f& max_abs_offsets, float max_abs_offsets,
enum Rotation rotation) enum Rotation rotation)
{ {
int16_t i; int16_t i;
@ -1046,9 +1046,9 @@ bool AP_InertialSensor::_calibrate_accel(const Vector3f accel_sample[6],
} }
if (accel_offsets.is_nan() || if (accel_offsets.is_nan() ||
fabsf(accel_offsets.x) > max_abs_offsets.x || fabsf(accel_offsets.x) > max_abs_offsets ||
fabsf(accel_offsets.y) > max_abs_offsets.y || fabsf(accel_offsets.y) > max_abs_offsets ||
fabsf(accel_offsets.z) > max_abs_offsets.z) { fabsf(accel_offsets.z) > max_abs_offsets) {
success = false; success = false;
} }

4
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -251,7 +251,7 @@ private:
bool _calibrate_accel(const Vector3f accel_sample[6], bool _calibrate_accel(const Vector3f accel_sample[6],
Vector3f& accel_offsets, Vector3f& accel_offsets,
Vector3f& accel_scale, Vector3f& accel_scale,
Vector3f& max_abs_offsets, float max_abs_offsets,
enum Rotation rotation); enum Rotation rotation);
bool _check_sample_range(const Vector3f accel_sample[6], enum Rotation rotation, bool _check_sample_range(const Vector3f accel_sample[6], enum Rotation rotation,
AP_InertialSensor_UserInteract* interact); AP_InertialSensor_UserInteract* interact);
@ -297,7 +297,7 @@ private:
AP_Vector3f _gyro_offset[INS_MAX_INSTANCES]; AP_Vector3f _gyro_offset[INS_MAX_INSTANCES];
// accelerometer max absolute offsets to be used for calibration // 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 // temperatures for an instance if available
float _temperature[INS_MAX_INSTANCES]; float _temperature[INS_MAX_INSTANCES];

4
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
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@ -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, 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 // set accelerometer error_count

2
libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
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@ -74,7 +74,7 @@ protected:
void _publish_accel(uint8_t instance, const Vector3f &accel, bool rotate_and_correct = true); void _publish_accel(uint8_t instance, const Vector3f &accel, bool rotate_and_correct = true);
// set accelerometer max absolute offset for calibration // 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 // publish a temperature value
void _publish_temperature(uint8_t instance, float temperature); void _publish_temperature(uint8_t instance, float temperature);

2
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
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@ -483,7 +483,7 @@ bool AP_InertialSensor_LSM9DS0::_init_sensor()
_gyro_instance = _imu.register_gyro(); _gyro_instance = _imu.register_gyro();
_accel_instance = _imu.register_accel(); _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 #if LSM9DS0_DEBUG
_dump_registers(); _dump_registers();