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Code Issues Wiki Activity

Changed alignSensors to have common src/dest

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This commit is contained in:
Martin Budden 2016-11-20 07:46:58 +00:00
parent 1c3838320b
commit dc56f143f3
5 changed files with 8 additions and 9 deletions
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2
src/main/sensors/acceleration.c
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@ -219,7 +219,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
} }
} }
alignSensors(accSmooth, accSmooth, accAlign); alignSensors(accSmooth, accAlign);
if (!isAccelerationCalibrationComplete()) { if (!isAccelerationCalibrationComplete()) {
performAcclerationCalibration(rollAndPitchTrims); performAcclerationCalibration(rollAndPitchTrims);

9
src/main/sensors/boardalignment.c
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@ -62,13 +62,12 @@ static void alignBoard(int32_t *vec)
vec[Z] = lrintf(boardRotation[0][Z] * x + boardRotation[1][Z] * y + boardRotation[2][Z] * z); vec[Z] = lrintf(boardRotation[0][Z] * x + boardRotation[1][Z] * y + boardRotation[2][Z] * z);
} }
void alignSensors(const int32_t *src, int32_t *dest, uint8_t rotation) void alignSensors(int32_t *dest, uint8_t rotation)
{ {
const int32_t x = src[X]; const int32_t x = dest[X];
const int32_t y = src[Y]; const int32_t y = dest[Y];
const int32_t z = src[Z]; const int32_t z = dest[Z];
// note src and dest may point to the same address
switch (rotation) { switch (rotation) {
default: default:
case CW0_DEG: case CW0_DEG:

2
src/main/sensors/boardalignment.h
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@ -23,5 +23,5 @@ typedef struct boardAlignment_s {
int32_t yawDegrees; int32_t yawDegrees;
} boardAlignment_t; } boardAlignment_t;
void alignSensors(const int32_t *src, int32_t *dest, uint8_t rotation); void alignSensors(int32_t *dest, uint8_t rotation);
void initBoardAlignment(const boardAlignment_t *boardAlignment); void initBoardAlignment(const boardAlignment_t *boardAlignment);

2
src/main/sensors/compass.c
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@ -62,7 +62,7 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
mag.read(magADCRaw); mag.read(magADCRaw);
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) magADC[axis] = magADCRaw[axis]; // int32_t copy to work with for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) magADC[axis] = magADCRaw[axis]; // int32_t copy to work with
alignSensors(magADC, magADC, magAlign); alignSensors(magADC, magAlign);
if (STATE(CALIBRATE_MAG)) { if (STATE(CALIBRATE_MAG)) {
tCal = currentTime; tCal = currentTime;

2
src/main/sensors/gyro.c
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@ -170,7 +170,7 @@ void gyroUpdate(void)
gyroADC[Y] = gyroADCRaw[Y]; gyroADC[Y] = gyroADCRaw[Y];
gyroADC[Z] = gyroADCRaw[Z]; gyroADC[Z] = gyroADCRaw[Z];
alignSensors(gyroADC, gyroADC, gyroAlign); alignSensors(gyroADC, gyroAlign);
if (!isGyroCalibrationComplete()) { if (!isGyroCalibrationComplete()) {
performGyroCalibration(gyroConfig->gyroMovementCalibrationThreshold); performGyroCalibration(gyroConfig->gyroMovementCalibrationThreshold);