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Improved acc initialisation

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This commit is contained in:
Martin Budden 2016-08-15 07:32:06 +01:00
parent 9b565384f8
commit c077bacee6
7 changed files with 82 additions and 65 deletions
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4
src/main/sensors/gyro.c
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@ -103,7 +103,7 @@ void gyroSetCalibrationCycles(void)
calibratingG = gyroCalculateCalibratingCycles();
}
static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
static void performGyroCalibration(uint8_t gyroMovementCalibrationThreshold)
{
static int32_t g[3];
static stdev_t var[3];
@ -166,7 +166,7 @@ void gyroUpdate(void)
alignSensors(gyroADC, gyroADC, gyroAlign);
if (!isGyroCalibrationComplete()) {
performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
performGyroCalibration(gyroConfig->gyroMovementCalibrationThreshold);
}
applyGyroZero();