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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/modules/commander/gyro_calibration.cpp
+2 -30
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@@ -217,14 +217,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
worker_data.mavlink_log_pub = mavlink_log_pub;
struct gyro_calibration_s gyro_scale_zero;
gyro_scale_zero.x_offset = 0.0f;
gyro_scale_zero.x_scale = 1.0f;
gyro_scale_zero.y_offset = 0.0f;
gyro_scale_zero.y_scale = 1.0f;
gyro_scale_zero.z_offset = 0.0f;
gyro_scale_zero.z_scale = 1.0f;
gyro_calibration_s gyro_scale_zero{};
int device_prio_max = 0;
int32_t device_id_primary = 0;
@@ -245,7 +238,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
return PX4_ERROR;
}
// Reset all offsets to 0 and scales to 1
// Reset all offsets to 0
(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
#ifdef __PX4_NUTTX
sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
@@ -284,27 +277,6 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
PX4_ERR("unable to reset %s", str);
}
(void)sprintf(str, "CAL_GYRO%u_XSCALE", s);
res = param_set_no_notification(param_find(str), &gyro_scale_zero.x_scale);
if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
(void)sprintf(str, "CAL_GYRO%u_YSCALE", s);
res = param_set_no_notification(param_find(str), &gyro_scale_zero.y_scale);
if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
(void)sprintf(str, "CAL_GYRO%u_ZSCALE", s);
res = param_set_no_notification(param_find(str), &gyro_scale_zero.z_scale);
if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
param_notify_changes();
#endif