Correction requires the body rates averaged across the flow sensor sampling interval. This data has been added to the sensor buffer.
The body rate data from the flow sensor driver does not contain the Z component, so an equivalent value sampled from the navigation IMU has been used instead.
The variable omegaAcrossFlowTime has been moved out of the class and into the only function that uses it.
This patch replaces the 'old style' ringbuffer by the ByteBuffer class.
An effort was made to keep the exchange as close as possible from a
drop-in replacement to minimize the risk of introducing bugs.
Although the exchange opens opportunities for improvement and
simplification of this class.
When the buffer wraps and we do it in 2 steps, we can't actually do the
second part if it fails or if we wrote less bytes than we intended,
otherwise we will corrupt the data being sent.
We can't give the TX buffer 16 bytes more since next time begin() is
called it will compare the buffer size to the value the caller is trying
to set. In this case we would free and alloc the buffer again each time
begin was called.
This patch replaces the 'old style' ringbuffer by the ByteBuffer class.
An effort was made to keep the exchange as close as possible from a
drop-in replacement to minimize the risk of introducing bugs.
Although the exchange opens opportunities for improvement and
simplification of this class.
While at it, just like in the write case, explain why we are stopping.
When the buffer wraps and we do it in 2 steps, we can't actually do the
second part if it fails or if we wrote less bytes than we intended,
otherwise we will corrupt the data being sent.
While at it, just like in the write case, explain why we are stopping.
We can't give the TX buffer 16 bytes more since next time begin() is
called it will compare the buffer size to the value the caller is trying
to set. In this case we would free and alloc the buffer again each time
begin was called.
This patch replaces the 'old style' ringbuffer by the ByteBuffer class.
An effort was made to keep the exchange as close as possible from a
drop-in replacement to minimize the risk of introducing bugs.
Although the exchange opens opportunities for improvement and
simplification of this class.
When the buffer wraps and we do it in 2 steps, we can't actually do the
second part if it fails or if we wrote less bytes than we intended,
otherwise we will corrupt the data being sent.
This patch replaces the 'old style' ringbuffer by the ByteBuffer class.
An effort was made to keep the exchange as close as possible from a
drop-in replacement to minimize the risk of introducing bugs.
Although the exchange opens opportunities for improvement and
simplification of this class.
Summary of significant changes:
-Autsave doesn't depend on STREAM_EXTRA3
-Don't risk only saving one compass on copter if CAL_ALWAYS_REBOOT is set
-Only calibrate compasses that are both health and marked for use (there was a inconsistency in handling the mask)
-Fix incorrect failure reporting on DO_ACCEPT_MAG_CAL with a mask of 0 if a channel was specifically not started
-Fix not starting the buzzer if the delay is set to 0 seconds
-Always send MAG_CAL_REPORT until its acknowledged
-Correct the field in MAG_CAL_REPORT for autosave to indicate if the compass had actually been saved, rather then being scheduled to be saved
-Remmove unused public interfaces
