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add USE_IMU_FAKE

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This commit is contained in:
JuliooCesarMDM 2021-12-04 20:22:27 -03:00
parent 19894a5a80
commit b6483bb457
2 changed files with 8 additions and 4 deletions
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4
src/main/navigation/navigation_pos_estimator.c
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@ -362,11 +362,11 @@ static void restartGravityCalibration(void)
} }
static bool gravityCalibrationComplete(void) static bool gravityCalibrationComplete(void)
{ {
if (!gyroConfig()->init_gyro_cal_enabled) { if (!gyroConfig()->init_gyro_cal_enabled) {
return true; return true;
} }
return zeroCalibrationIsCompleteS(&posEstimator.imu.gravityCalibration); return zeroCalibrationIsCompleteS(&posEstimator.imu.gravityCalibration);
} }

8
src/main/sensors/gyro.c
View file

@ -341,10 +341,12 @@ void gyroStartCalibration(void)
if (!gyro.initialized) { if (!gyro.initialized) {
return; return;
} }
#ifndef USE_IMU_FAKE // fixes Test Unit compilation error
if (!gyroConfig()->init_gyro_cal_enabled) { if (!gyroConfig()->init_gyro_cal_enabled) {
return; return;
} }
#endif
zeroCalibrationStartV(&gyroCalibration[0], CALIBRATING_GYRO_TIME_MS, gyroConfig()->gyroMovementCalibrationThreshold, false); zeroCalibrationStartV(&gyroCalibration[0], CALIBRATING_GYRO_TIME_MS, gyroConfig()->gyroMovementCalibrationThreshold, false);
} }
@ -355,9 +357,11 @@ bool gyroIsCalibrationComplete(void)
return true; return true;
} }
#ifndef USE_IMU_FAKE // fixes Test Unit compilation error
if (!gyroConfig()->init_gyro_cal_enabled) { if (!gyroConfig()->init_gyro_cal_enabled) {
return true; return true;
} }
#endif
return zeroCalibrationIsCompleteV(&gyroCalibration[0]) && zeroCalibrationIsSuccessfulV(&gyroCalibration[0]); return zeroCalibrationIsCompleteV(&gyroCalibration[0]) && zeroCalibrationIsSuccessfulV(&gyroCalibration[0]);
} }
@ -519,7 +523,7 @@ void FAST_CODE NOINLINE gyroUpdate()
// At this point gyro.gyroADCf contains unfiltered gyro value [deg/s] // At this point gyro.gyroADCf contains unfiltered gyro value [deg/s]
float gyroADCf = gyro.gyroADCf[axis]; float gyroADCf = gyro.gyroADCf[axis];
//DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf)); DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf));
/* /*
* First gyro LPF is the only filter applied with the full gyro sampling speed * First gyro LPF is the only filter applied with the full gyro sampling speed