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AP_InertialSensor: use delta_velocity/dt for calibration if available

This commit is contained in:
Jonathan Challinger 2015-03-21 13:19:14 -07:00
parent 423160eaf8
commit b2b42e081a
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -518,7 +518,13 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
update(); update();
// capture sample // capture sample
for (uint8_t k=0; k<num_accels; k++) { for (uint8_t k=0; k<num_accels; k++) {
samples[k][i] += get_accel(k); Vector3f samp;
if(get_delta_velocity(k,samp)) {
samp /= _delta_velocity_dt[k];
} else {
samp = get_accel(k);
}
samples[k][i] += samp;
if (!get_accel_health(k)) { if (!get_accel_health(k)) {
interact->printf_P(PSTR("accel[%u] not healthy"), (unsigned)k); interact->printf_P(PSTR("accel[%u] not healthy"), (unsigned)k);
goto failed; goto failed;