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AP_InertialSensor: remove param rotate_and_correct from publish functions

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Once that parameter is always false.
This commit is contained in:
Gustavo Jose de Sousa 2015-08-28 12:18:09 -03:00 committed by Andrew Tridgell
parent a56c8deaee
commit ac3a677626
10 changed files with 20 additions and 28 deletions
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12
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
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@ -47,14 +47,10 @@ void AP_InertialSensor_Backend::_publish_delta_angle(uint8_t instance, const Vec
/*
rotate gyro vector and add the gyro offset
*/
void AP_InertialSensor_Backend::_publish_gyro(uint8_t instance, const Vector3f &gyro, bool rotate_and_correct)
void AP_InertialSensor_Backend::_publish_gyro(uint8_t instance, const Vector3f &gyro)
{
_imu._gyro[instance] = gyro;
_imu._gyro_healthy[instance] = true;
if (rotate_and_correct) {
_rotate_and_correct_gyro(instance, _imu._gyro[instance]);
}
}
void AP_InertialSensor_Backend::_publish_delta_velocity(uint8_t instance, const Vector3f &delta_velocity, float dt)
@ -68,14 +64,10 @@ void AP_InertialSensor_Backend::_publish_delta_velocity(uint8_t instance, const
/*
rotate accel vector, scale and add the accel offset
*/
void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f &accel, bool rotate_and_correct)
void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f &accel)
{
_imu._accel[instance] = accel;
_imu._accel_healthy[instance] = true;
if (rotate_and_correct) {
_rotate_and_correct_accel(instance, _imu._accel[instance]);
}
}
void AP_InertialSensor_Backend::_set_accel_max_abs_offset(uint8_t instance,

4
libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
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@ -83,10 +83,10 @@ protected:
void _publish_delta_angle(uint8_t instance, const Vector3f &delta_angle);
// rotate gyro vector, offset and publish
void _publish_gyro(uint8_t instance, const Vector3f &gyro, bool rotate_and_correct = true);
void _publish_gyro(uint8_t instance, const Vector3f &gyro);
// rotate accel vector, scale, offset and publish
void _publish_accel(uint8_t instance, const Vector3f &accel, bool rotate_and_correct = true);
void _publish_accel(uint8_t instance, const Vector3f &accel);
// set accelerometer max absolute offset for calibration
void _set_accel_max_abs_offset(uint8_t instance, float offset);

4
libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
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@ -175,8 +175,8 @@ bool AP_InertialSensor_Flymaple::update(void)
_have_accel_sample = false;
hal.scheduler->resume_timer_procs();
_publish_accel(_accel_instance, accel, false);
_publish_gyro(_gyro_instance, gyro, false);
_publish_accel(_accel_instance, accel);
_publish_gyro(_gyro_instance, gyro);
if (_last_filter_hz != _accel_filter_cutoff()) {
_set_filter_frequency(_accel_filter_cutoff());

4
libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
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@ -271,8 +271,8 @@ bool AP_InertialSensor_L3G4200D::update(void)
_have_sample = false;
pthread_spin_unlock(&_data_lock);
_publish_accel(_accel_instance, accel, false);
_publish_gyro(_gyro_instance, gyro, false);
_publish_accel(_accel_instance, accel);
_publish_gyro(_gyro_instance, gyro);
if (_last_filter_hz != _accel_filter_cutoff()) {
_set_filter_frequency(_accel_filter_cutoff());

4
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
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@ -765,8 +765,8 @@ bool AP_InertialSensor_LSM9DS0::update()
_accel_sample_available = false;
_gyro_sample_available = false;
_publish_gyro(_gyro_instance, _gyro_filtered, false);
_publish_accel(_accel_instance, _accel_filtered, false);
_publish_gyro(_gyro_instance, _gyro_filtered);
_publish_accel(_accel_instance, _accel_filtered);
if (_last_accel_filter_hz != _accel_filter_cutoff()) {
_set_accel_filter(_accel_filter_cutoff());

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -666,8 +666,8 @@ bool AP_InertialSensor_MPU6000::update( void )
gyro /= num_samples;
accel /= num_samples;
_publish_accel(_accel_instance, accel, false);
_publish_gyro(_gyro_instance, gyro, false);
_publish_accel(_accel_instance, accel);
_publish_gyro(_gyro_instance, gyro);
#if MPU6000_FAST_SAMPLING
if (_last_accel_filter_hz != _accel_filter_cutoff()) {

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
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@ -1116,8 +1116,8 @@ bool AP_InertialSensor_MPU9150::update(void)
_have_sample_available = false;
hal.scheduler->resume_timer_procs();
_publish_accel(_accel_instance, accel, false);
_publish_gyro(_gyro_instance, gyro, false);
_publish_accel(_accel_instance, accel);
_publish_gyro(_gyro_instance, gyro);
if (_last_accel_filter_hz != _accel_filter_cutoff()) {
_set_accel_filter_frequency(_accel_filter_cutoff());

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -330,8 +330,8 @@ bool AP_InertialSensor_MPU9250::update( void )
_have_sample_available = false;
_publish_gyro(_gyro_instance, gyro, false);
_publish_accel(_accel_instance, accel, false);
_publish_gyro(_gyro_instance, gyro);
_publish_accel(_accel_instance, accel);
if (_last_accel_filter_hz != _accel_filter_cutoff()) {
_set_accel_filter(_accel_filter_cutoff());

4
libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
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@ -105,7 +105,7 @@ bool AP_InertialSensor_Oilpan::update()
_sensor_signs[1] * ( adc_values[1] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_y,
_sensor_signs[2] * ( adc_values[2] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_z);
_rotate_and_correct_gyro(_gyro_instance, v);
_publish_gyro(_gyro_instance, v, false);
_publish_gyro(_gyro_instance, v);
// copy accels to frontend
v(_sensor_signs[3] * (adc_values[3] - OILPAN_RAW_ACCEL_OFFSET),
@ -113,7 +113,7 @@ bool AP_InertialSensor_Oilpan::update()
_sensor_signs[5] * (adc_values[5] - OILPAN_RAW_ACCEL_OFFSET));
v *= OILPAN_ACCEL_SCALE_1G;
_rotate_and_correct_accel(_accel_instance, v);
_publish_accel(_accel_instance, v, false);
_publish_accel(_accel_instance, v);
return true;
}

4
libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
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@ -216,7 +216,7 @@ bool AP_InertialSensor_PX4::update(void)
// calling _publish_accel sets the sensor healthy,
// so we only want to do this if we have new data from it
if (_last_accel_timestamp[k] != _last_accel_update_timestamp[k]) {
_publish_accel(_accel_instance[k], accel, false);
_publish_accel(_accel_instance[k], accel);
_publish_delta_velocity(_accel_instance[k], _delta_velocity_accumulator[k], _delta_velocity_dt[k]);
_last_accel_update_timestamp[k] = _last_accel_timestamp[k];
}
@ -227,7 +227,7 @@ bool AP_InertialSensor_PX4::update(void)
// calling _publish_accel sets the sensor healthy,
// so we only want to do this if we have new data from it
if (_last_gyro_timestamp[k] != _last_gyro_update_timestamp[k]) {
_publish_gyro(_gyro_instance[k], gyro, false);
_publish_gyro(_gyro_instance[k], gyro);
_publish_delta_angle(_gyro_instance[k], _delta_angle_accumulator[k]);
_last_gyro_update_timestamp[k] = _last_gyro_timestamp[k];
}