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detect_orientation make constants constexpr

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Daniel Agar
2017-12-31 09:47:51 -05:00
parent 344cf83549
commit 32a450f5dd
1 changed files with 10 additions and 8 deletions
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src/modules/commander/calibration_routines.cpp
+10 -8
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@@ -530,24 +530,25 @@ int run_lm_ellipsoid_fit(const float x[], const float y[], const float z[], floa
enum detect_orientation_return detect_orientation(orb_advert_t *mavlink_log_pub, int cancel_sub, int accel_sub,
bool lenient_still_position)
{
const unsigned ndim = 3;
static constexpr unsigned ndim = 3;
struct sensor_combined_s sensor;
float accel_ema[ndim] = { 0.0f }; // exponential moving average of accel
float accel_disp[3] = { 0.0f, 0.0f, 0.0f }; // max-hold dispersion of accel
float ema_len = 0.5f; // EMA time constant in seconds
const float normal_still_thr = 0.25; // normal still threshold
static constexpr float ema_len = 0.5f; // EMA time constant in seconds
static constexpr float normal_still_thr = 0.25; // normal still threshold
float still_thr2 = powf(lenient_still_position ? (normal_still_thr * 3) : normal_still_thr, 2);
float accel_err_thr = 5.0f; // set accel error threshold to 5m/s^2
hrt_abstime still_time = lenient_still_position ? 500000 : 1300000; // still time required in us
static constexpr float accel_err_thr = 5.0f; // set accel error threshold to 5m/s^2
const hrt_abstime still_time = lenient_still_position ? 500000 : 1300000; // still time required in us
px4_pollfd_struct_t fds[1];
fds[0].fd = accel_sub;
fds[0].events = POLLIN;
hrt_abstime t_start = hrt_absolute_time();
const hrt_abstime t_start = hrt_absolute_time();
/* set timeout to 30s */
hrt_abstime timeout = 30000000;
static constexpr hrt_abstime timeout = 30000000;
hrt_abstime t_timeout = t_start + timeout;
hrt_abstime t = t_start;
hrt_abstime t_prev = t_start;
@@ -560,6 +561,7 @@ enum detect_orientation_return detect_orientation(orb_advert_t *mavlink_log_pub,
int poll_ret = px4_poll(fds, 1, 1000);
if (poll_ret) {
struct sensor_combined_s sensor;
orb_copy(ORB_ID(sensor_combined), accel_sub, &sensor);
t = hrt_absolute_time();
float dt = (t - t_prev) / 1000000.0f;