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gyro sensors/debug: record standard deviation for roll *only*

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* visibile in the DEBUG_GYRO_RAW[3]
This commit is contained in:
AJ Christensen 2018-06-09 14:18:47 +12:00
parent f8ebdf06f1
commit 03b480a8ef
1 changed files with 5 additions and 2 deletions
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7
src/main/sensors/gyro.c
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@ -864,8 +864,11 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) { if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
const float stddev = devStandardDeviation(&gyroSensor->calibration.var[axis]); const float stddev = devStandardDeviation(&gyroSensor->calibration.var[axis]);
// DEBUG_GYRO_CALIBRATION records per-axis standard deviation // DEBUG_GYRO_CALIBRATION records the standard deviation of roll
DEBUG_SET(DEBUG_GYRO_CALIBRATION, axis, lrintf(stddev)); // into the spare field - debug[3], in DEBUG_GYRO_RAW
if (axis == X) {
DEBUG_SET(DEBUG_GYRO_RAW, DEBUG_GYRO_CALIBRATION, lrintf(stddev));
}
// check deviation and startover in case the model was moved // check deviation and startover in case the model was moved
if (gyroMovementCalibrationThreshold && stddev > gyroMovementCalibrationThreshold) { if (gyroMovementCalibrationThreshold && stddev > gyroMovementCalibrationThreshold) {