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INS: switch to global definition of GRAVITY_MSS

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saves 4 bytes of RAM
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Randy Mackay 2013-04-05 22:57:46 +09:00
parent fc0c451b69
commit af13f6795c
5 changed files with 7 additions and 11 deletions
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11
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -286,8 +286,7 @@ AP_InertialSensor::_init_accel(void (*flash_leds_cb)(bool on))
}
// null gravity from the Z accel
// TO-DO: replace with gravity #define form location.cpp
accel_offset.z += GRAVITY;
accel_offset.z += GRAVITY_MSS;
total_change = fabsf(prev.x - accel_offset.x) + fabsf(prev.y - accel_offset.y) + fabsf(prev.z - accel_offset.z);
max_offset = (accel_offset.x > accel_offset.y) ? accel_offset.x : accel_offset.y;
@ -422,7 +421,7 @@ bool AP_InertialSensor::_calibrate_accel( Vector3f accel_sample[6],
// reset
beta[0] = beta[1] = beta[2] = 0;
beta[3] = beta[4] = beta[5] = 1.0f/GRAVITY;
beta[3] = beta[4] = beta[5] = 1.0f/GRAVITY_MSS;
while( num_iterations < 20 && change > eps ) {
num_iterations++;
@ -452,9 +451,9 @@ bool AP_InertialSensor::_calibrate_accel( Vector3f accel_sample[6],
}
// copy results out
accel_scale.x = beta[3] * GRAVITY;
accel_scale.y = beta[4] * GRAVITY;
accel_scale.z = beta[5] * GRAVITY;
accel_scale.x = beta[3] * GRAVITY_MSS;
accel_scale.y = beta[4] * GRAVITY_MSS;
accel_scale.z = beta[5] * GRAVITY_MSS;
accel_offsets.x = beta[0] * accel_scale.x;
accel_offsets.y = beta[1] * accel_scale.y;
accel_offsets.z = beta[2] * accel_scale.z;

1
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -3,7 +3,6 @@
#ifndef __AP_INERTIAL_SENSOR_H__
#define __AP_INERTIAL_SENSOR_H__
#define GRAVITY 9.80665f
// Gyro and Accelerometer calibration criteria
#define AP_INERTIAL_SENSOR_ACCEL_TOT_MAX_OFFSET_CHANGE 4.0f
#define AP_INERTIAL_SENSOR_ACCEL_MAX_OFFSET 250.0f

2
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -6,7 +6,7 @@
extern const AP_HAL::HAL& hal;
// MPU6000 accelerometer scaling
#define MPU6000_ACCEL_SCALE_1G (GRAVITY / 4096.0f)
#define MPU6000_ACCEL_SCALE_1G (GRAVITY_MSS / 4096.0f)
// MPU 6000 registers
#define MPUREG_XG_OFFS_TC 0x00

2
libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
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@ -24,7 +24,7 @@ const float AP_InertialSensor_Oilpan::_adc_constraint = 900;
// Tested value : 418
// Oilpan accelerometer scaling & offsets
#define OILPAN_ACCEL_SCALE_1G (GRAVITY * 2.0f / (2465.0f - 1617.0f))
#define OILPAN_ACCEL_SCALE_1G (GRAVITY_MSS * 2.0f / (2465.0f - 1617.0f))
#define OILPAN_RAW_ACCEL_OFFSET ((2465.0f + 1617.0f) * 0.5f)
#define OILPAN_RAW_GYRO_OFFSET 1658.0f

2
libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
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@ -39,8 +39,6 @@ private:
static const int8_t _sensor_signs[6];
static const uint8_t _gyro_temp_ch;
static const float _gravity;
static const float _gyro_gain_x;
static const float _gyro_gain_y;
static const float _gyro_gain_z;