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IMU speedup by shorting the temp calculation. If someone bothers to temp calibrate their sensors, they'll need to edit this shortcut. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2677 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-06-26 06:23:22 +00:00
parent cd864714ea
commit fe16f5d7a4
2 changed files with 6 additions and 6 deletions
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6
libraries/AP_IMU/AP_IMU_Oilpan.cpp
View File

@ -222,12 +222,12 @@ AP_IMU_Oilpan::_sensor_compensation(uint8_t channel, int temperature) const
// do gyro temperature compensation // do gyro temperature compensation
if (channel < 3) { if (channel < 3) {
//return 1658; return 1658;
//* /*
return _gyro_temp_curve[channel][0] + return _gyro_temp_curve[channel][0] +
_gyro_temp_curve[channel][1] * temperature + _gyro_temp_curve[channel][1] * temperature +
_gyro_temp_curve[channel][2] * temperature * temperature; _gyro_temp_curve[channel][2] * temperature * temperature;
// */ //*/
} }
// do fixed-offset accelerometer compensation // do fixed-offset accelerometer compensation

6
libraries/AP_IMU/AP_IMU_Oilpan.h
View File

@ -95,14 +95,14 @@ private:
// Maximum possible value returned by an offset-corrected sensor channel // Maximum possible value returned by an offset-corrected sensor channel
// //
static const float _adc_constraint = 900; static const float _adc_constraint = 900;
// Gyro and Accelerometer calibration criterial // Gyro and Accelerometer calibration criterial
// //
static const float _gyro_total_cal_change = 4.0; // Experimentally derived - allows for some minor motion static const float _gyro_total_cal_change = 4.0; // Experimentally derived - allows for some minor motion
static const float _gyro_max_cal_offset = 320.0; static const float _gyro_max_cal_offset = 320.0;
static const float _accel_total_cal_change = 4.0; static const float _accel_total_cal_change = 4.0;
static const float _accel_max_cal_offset = 250.0; static const float _accel_max_cal_offset = 250.0;
}; };
#endif #endif