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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/lib/drivers/gyroscope/PX4Gyroscope.cpp
+1 -4
View File
@@ -71,7 +71,6 @@ PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
memcpy(&cal, (gyro_calibration_s *) arg, sizeof(cal));
_calibration_offset = matrix::Vector3f{cal.x_offset, cal.y_offset, cal.z_offset};
_calibration_scale = matrix::Vector3f{cal.x_scale, cal.y_scale, cal.z_scale};
}
return PX4_OK;
@@ -118,7 +117,7 @@ PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z)
const matrix::Vector3f raw{x, y, z};
// Apply range scale and the calibrating offset/scale
const matrix::Vector3f val_calibrated{(((raw * report.scaling) - _calibration_offset).emult(_calibration_scale))};
const matrix::Vector3f val_calibrated{((raw * report.scaling) - _calibration_offset)};
// Filtered values
const matrix::Vector3f val_filtered{_filter.apply(val_calibrated)};
@@ -176,8 +175,6 @@ PX4Gyroscope::print_status()
PX4_INFO("sample rate: %d Hz", _sample_rate);
PX4_INFO("filter cutoff: %.3f Hz", (double)_filter.get_cutoff_freq());
PX4_INFO("calibration scale: %.5f %.5f %.5f", (double)_calibration_scale(0), (double)_calibration_scale(1),
(double)_calibration_scale(2));
PX4_INFO("calibration offset: %.5f %.5f %.5f", (double)_calibration_offset(0), (double)_calibration_offset(1),
(double)_calibration_offset(2));
src/lib/drivers/gyroscope/PX4Gyroscope.hpp
-1
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@@ -77,7 +77,6 @@ private:
const enum Rotation _rotation;
matrix::Vector3f _calibration_scale{1.0f, 1.0f, 1.0f};
matrix::Vector3f _calibration_offset{0.0f, 0.0f, 0.0f};
int _class_device_instance{-1};