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Fix gyro calibration zero offset calculation

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It seems like the gyro calibration sample count overflow fix (#5898) caused a downstream problem with the math to calculate the zero offset.  Casting the components of the formula to (float) solves the problem.
This commit is contained in:
Bruce Luckcuck 2018-05-16 13:06:07 -04:00
parent 1c605c3842
commit ce170990a2
1 changed files with 1 additions and 1 deletions
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2
src/main/sensors/gyro.c
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@ -933,7 +933,7 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
}
// please take care with exotic boardalignment !!
gyroSensor->gyroDev.gyroZero[axis] = gyroSensor->calibration.sum[axis] / gyroCalculateCalibratingCycles();
gyroSensor->gyroDev.gyroZero[axis] = (float)gyroSensor->calibration.sum[axis] / (float)gyroCalculateCalibratingCycles();
if (axis == Z) {
gyroSensor->gyroDev.gyroZero[axis] -= ((float)gyroConfig()->gyro_offset_yaw / 100);
}