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added more time to IMU startup. added more accessors and removed private flag.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1702 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-20 23:10:18 +00:00
parent 73f3fc6193
commit bd9f0f4647
2 changed files with 18 additions and 14 deletions
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4
libraries/AP_IMU/AP_IMU_Oilpan.cpp
View File

@ -87,7 +87,7 @@ AP_IMU_Oilpan::_init_gyro()
for (int i = 0; i < 6; i++)
adc_in = _adc->Ch(_sensors[i]);
digitalWrite(A_LED_PIN, HIGH);
digitalWrite(C_LED_PIN, LOW);
delay(20);
@ -98,7 +98,7 @@ AP_IMU_Oilpan::_init_gyro()
_sensor_cal[j] = adc_in;
}
for(int i = 0; i < 50; i++){
for(int i = 0; i < 100; i++){
for (int j = 0; j < 3; j++){
adc_in = _adc->Ch(_sensors[j]);
// Subtract temp compensated typical gyro bias

28
libraries/AP_IMU/AP_IMU_Oilpan.h
View File

@ -27,7 +27,8 @@ public:
///
AP_IMU_Oilpan(AP_ADC *adc, AP_Var::Key key) :
_adc(adc),
_sensor_cal(key, PSTR("IMU_SENSOR_CAL"), AP_Var::k_flag_no_auto_load)
_sensor_cal(key, PSTR("IMU_SENSOR_CAL"))
// _sensor_cal(key, PSTR("IMU_SENSOR_CAL"), AP_Var::k_flag_no_auto_load)
{}
/// Do warm or cold start.
@ -41,22 +42,25 @@ public:
/// WARM_START loads accelerometer and gyro calibration from a previous cold start.
///
virtual void init(Start_style style = COLD_START);
virtual void save();
virtual void init_accel();
virtual void init_gyro();
virtual bool update(void);
// for jason
int ax() { return _sensor_cal[3]; }
int ay() { return _sensor_cal[4]; }
int az() { return _sensor_cal[5]; }
void ax(const int v) { _sensor_cal[3] = v; }
void ay(const int v) { _sensor_cal[4] = v; }
void az(const int v) { _sensor_cal[5] = v; }
// for jason
float gx() { return _sensor_cal[0]; }
float gy() { return _sensor_cal[1]; }
float gz() { return _sensor_cal[2]; }
float ax() { return _sensor_cal[3]; }
float ay() { return _sensor_cal[4]; }
float az() { return _sensor_cal[5]; }
void ax(const float v) { _sensor_cal[3] = v; }
void ay(const float v) { _sensor_cal[4] = v; }
void az(const float v) { _sensor_cal[5] = v; }
private:
AP_ADC *_adc; ///< ADC that we use for reading sensors
AP_VarA<float,6> _sensor_cal; ///< Calibrated sensor offsets