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delete ACCELIOCSELFTEST and GYROIOCSELFTEST

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This commit is contained in:
Daniel Agar
2018-08-02 08:05:52 +02:00
committed by Lorenz Meier
parent 31c08c7ffb
commit 568a5f1c4c
23 changed files with 0 additions and 623 deletions
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src/drivers/imu/mpu6000/mpu6000.cpp
-85
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@@ -386,20 +386,6 @@ private:
*/
int self_test();
/**
* Accel self test
*
* @return 0 on success, 1 on failure
*/
int accel_self_test();
/**
* Gyro self test
*
* @return 0 on success, 1 on failure
*/
int gyro_self_test();
/*
set low pass filter frequency
*/
@@ -1072,71 +1058,6 @@ MPU6000::self_test()
return (perf_event_count(_sample_perf) > 0) ? 0 : 1;
}
int
MPU6000::accel_self_test()
{
if (self_test()) {
return 1;
}
return 0;
}
int
MPU6000::gyro_self_test()
{
if (self_test()) {
return 1;
}
/*
* Maximum deviation of 20 degrees, according to
* http://www.farnell.com/datasheets/1788002.pdf
* Section 6.1, initial ZRO tolerance
*
* 20 dps (0.34 rad/s) initial offset
* and 20 dps temperature drift, so 0.34 rad/s * 2
*/
const float max_offset = 2.0f * 0.34f;
/* 30% scale error is chosen to catch completely faulty units but
* to let some slight scale error pass. Requires a rate table or correlation
* with mag rotations + data fit to
* calibrate properly and is not done by default.
*/
const float max_scale = 0.3f;
/* evaluate gyro offsets, complain if offset -> zero or larger than 20 dps. */
if (fabsf(_gyro_scale.x_offset) > max_offset) {
return 1;
}
/* evaluate gyro scale, complain if off by more than 30% */
if (fabsf(_gyro_scale.x_scale - 1.0f) > max_scale) {
return 1;
}
if (fabsf(_gyro_scale.y_offset) > max_offset) {
return 1;
}
if (fabsf(_gyro_scale.y_scale - 1.0f) > max_scale) {
return 1;
}
if (fabsf(_gyro_scale.z_offset) > max_offset) {
return 1;
}
if (fabsf(_gyro_scale.z_scale - 1.0f) > max_scale) {
return 1;
}
return 0;
}
/*
perform a self-test comparison to factory trim values. This takes
about 200ms and will return OK if the current values are within 14%
@@ -1485,9 +1406,6 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
case ACCELIOCGEXTERNAL:
return _interface->ioctl(cmd, dummy);
@@ -1553,9 +1471,6 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
case GYROIOCGRANGE:
return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
case GYROIOCSELFTEST:
return gyro_self_test();
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);