The current approach to access the same memory location by using a
reference is giving this warning:
../libraries/AP_AccelCal/AccelCalibrator.cpp: In constructor ‘AccelCalibrator::AccelCalibrator()’:
../libraries/AP_AccelCal/AccelCalibrator.cpp:34:64: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
_param_struct(*reinterpret_cast<struct param_t *>(&_param_array))
^
../libraries/AP_AccelCal/AccelCalibrator.cpp: In member function ‘void AccelCalibrator::run_fit(uint8_t, float&)’:
../libraries/AP_AccelCal/AccelCalibrator.cpp:336:79: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
struct param_t &fit_param(*reinterpret_cast<struct param_t *>(¶m_array));
^
Using a union allows us to get rid of the warning, make sure the sizes of the
different structs match and have a more elegant solution.
new functions that get a filtered min/max accel peaks on each axis with fixed 500ms timeout:
Vector3f get_accel_peak_hold_pos()
Vector3f get_accel_peak_hold_neg()
This allows slower mechanisms, such as is_flying, to detect accel spikes which would indicate ground or object impacts. Vibe is too filtered. Independent positive and negative peaks are available
For ROTATION_ROLL_90_PITCH_68_YAW_293 consider the angles as 90, 68.8
and 293.3 degrees to pre-calculate rotation. This matches the rotation
matrix used in code.
While at it, check not only the values are close enough but also the
length of the vector.
The rotations are supposed to follow the name of the enum, in order. The
ROTATION_YAW_293_PITCH_68_ROLL_90 was added with the name of an
intrinsic 321 rotation, but the matrix is actually a 123 rotation,
following the other rotations already present.
Change the name to follow the other names.
