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gyro calibration: remove unused scale parameters

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This commit is contained in:
Beat Küng
2019-11-29 11:28:17 -05:00
committed by Daniel Agar
parent 4ca5770f36
commit 5ff83ef740
15 changed files with 16 additions and 244 deletions
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src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
+3 -24
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@@ -114,11 +114,8 @@ struct {
param_t accel_z_offset;
param_t accel_z_scale;
param_t gyro_x_offset;
param_t gyro_x_scale;
param_t gyro_y_offset;
param_t gyro_y_scale;
param_t gyro_z_offset;
param_t gyro_z_scale;
param_t mag_x_offset;
param_t mag_x_scale;
param_t mag_y_offset;
@@ -245,31 +242,16 @@ void parameters_update()
PX4_DEBUG("mpu9x50_parameters_update gyro_x_offset %f", v);
}
if (param_get(_params_handles.gyro_x_scale, &v) == 0) {
_gyro_sc.x_scale = v;
PX4_DEBUG("mpu9x50_parameters_update gyro_x_scale %f", v);
}
if (param_get(_params_handles.gyro_y_offset, &v) == 0) {
_gyro_sc.y_offset = v;
PX4_DEBUG("mpu9x50_parameters_update gyro_y_offset %f", v);
}
if (param_get(_params_handles.gyro_y_scale, &v) == 0) {
_gyro_sc.y_scale = v;
PX4_DEBUG("mpu9x50_parameters_update gyro_y_scale %f", v);
}
if (param_get(_params_handles.gyro_z_offset, &v) == 0) {
_gyro_sc.z_offset = v;
PX4_DEBUG("mpu9x50_parameters_update gyro_z_offset %f", v);
}
if (param_get(_params_handles.gyro_z_scale, &v) == 0) {
_gyro_sc.z_scale = v;
PX4_DEBUG("mpu9x50_parameters_update gyro_z_scale %f", v);
}
// mag params
if (param_get(_params_handles.mag_x_offset, &v) == 0) {
_mag_sc.x_offset = v;
@@ -343,11 +325,8 @@ void parameters_init()
_params_handles.accel_z_scale = param_find("CAL_ACC0_ZSCALE");
_params_handles.gyro_x_offset = param_find("CAL_GYRO0_XOFF");
_params_handles.gyro_x_scale = param_find("CAL_GYRO0_XSCALE");
_params_handles.gyro_y_offset = param_find("CAL_GYRO0_YOFF");
_params_handles.gyro_y_scale = param_find("CAL_GYRO0_YSCALE");
_params_handles.gyro_z_offset = param_find("CAL_GYRO0_ZOFF");
_params_handles.gyro_z_scale = param_find("CAL_GYRO0_ZSCALE");
_params_handles.mag_x_offset = param_find("CAL_MAG0_XOFF");
_params_handles.mag_x_scale = param_find("CAL_MAG0_XSCALE");
@@ -401,9 +380,9 @@ bool create_pubs()
void update_reports()
{
_gyro.timestamp = _data.timestamp;
_gyro.x = ((_data.gyro_raw[0] * _data.gyro_scaling) - _gyro_sc.x_offset) * _gyro_sc.x_scale;
_gyro.y = ((_data.gyro_raw[1] * _data.gyro_scaling) - _gyro_sc.y_offset) * _gyro_sc.y_scale;
_gyro.z = ((_data.gyro_raw[2] * _data.gyro_scaling) - _gyro_sc.z_offset) * _gyro_sc.z_scale;
_gyro.x = (_data.gyro_raw[0] * _data.gyro_scaling) - _gyro_sc.x_offset;
_gyro.y = (_data.gyro_raw[1] * _data.gyro_scaling) - _gyro_sc.y_offset;
_gyro.z = (_data.gyro_raw[2] * _data.gyro_scaling) - _gyro_sc.z_offset;
_gyro.temperature = _data.temperature;
_gyro.scaling = _data.gyro_scaling;
_gyro.x_raw = _data.gyro_raw[0];