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Vector library expansion (#12968)

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Jan Post 2024-09-15 23:03:32 +02:00 • committed by GitHub
parent fc4b7a0008
commit f71170db1b
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37 changed files with 630 additions and 587 deletions
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10
src/main/sensors/acceleration_init.c
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@ -407,7 +407,7 @@ bool accInit(uint16_t accSampleRateHz)
}
#endif
acc.dev.accAlign = alignment;
buildRotationMatrixFromAlignment(customAlignment, &acc.dev.rotationMatrix);
buildRotationMatrixFromAngles(&acc.dev.rotationMatrix, customAlignment);
if (!accDetect(&acc.dev, accelerometerConfig()->acc_hardware)) {
return false;
@ -453,10 +453,10 @@ void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
}
// Sum up CALIBRATING_ACC_CYCLES readings
a[axis] += acc.accADC[axis];
a[axis] += acc.accADC.v[axis];
// Reset global variables to prevent other code from using un-calibrated data
acc.accADC[axis] = 0;
acc.accADC.v[axis] = 0;
accelerationRuntime.accelerationTrims->raw[axis] = 0;
}
@ -495,9 +495,9 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
if (InflightcalibratingA == 50)
b[axis] = 0;
// Sum up 50 readings
b[axis] += acc.accADC[axis];
b[axis] += acc.accADC.v[axis];
// Clear global variables for next reading
acc.accADC[axis] = 0;
acc.accADC.v[axis] = 0;
accelerationRuntime.accelerationTrims->raw[axis] = 0;
}
// all values are measured