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Code Issues Wiki Activity

Refactor board alignment

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-12-31 17:55:03 +10:00
parent 1c68e9b720
commit c7e06c453a
5 changed files with 16 additions and 11 deletions
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7
src/main/sensors/acceleration.c
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@ -359,8 +359,8 @@ uint8_t accGetCalibrationAxisFlags(void)
int getPrimaryAxisIndex(int32_t sample[3])
{
// Apply sensor & board alignment (for axis detection only)
alignSensors(sample, acc.dev.accAlign);
// Apply sensor alignment (for axis detection only)
applySensorAlignment(sample, acc.dev.accAlign);
// Tolerate up to atan(1 / 1.5) = 33 deg tilt (in worst case 66 deg separation between points)
if ((ABS(sample[Z]) / 1.5f) > ABS(sample[X]) && (ABS(sample[Z]) / 1.5f) > ABS(sample[Y])) {
@ -511,7 +511,8 @@ void accUpdate(void)
}
applyAccelerationZero(&accelerometerConfig()->accZero, &accelerometerConfig()->accGain);
alignSensors(accADC, acc.dev.accAlign);
applySensorAlignment(accADC, acc.dev.accAlign);
applyBoardAlignment(accADC);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
acc.accADCf[axis] = (float)accADC[axis] / acc.dev.acc_1G;