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Function for calculating calibration cycles
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21bc85335e
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4 changed files with 10 additions and 5 deletions
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@ -77,9 +77,13 @@ bool isOnFinalGyroCalibrationCycle(void)
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return calibratingG == 1;
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}
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uint16_t calculateCalibratingCycles(void) {
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return (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
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}
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bool isOnFirstGyroCalibrationCycle(void)
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{
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return calibratingG == (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
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return calibratingG == calculateCalibratingCycles();
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}
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static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
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@ -108,10 +112,10 @@ static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThresho
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float dev = devStandardDeviation(&var[axis]);
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// check deviation and startover in case the model was moved
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if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
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gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES);
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gyroSetCalibrationCycles(calculateCalibratingCycles());
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return;
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}
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gyroZero[axis] = (g[axis] + ((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES / 2)) / (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
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gyroZero[axis] = (g[axis] + (calculateCalibratingCycles() / 2)) / calculateCalibratingCycles();
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}
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}
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