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device integrator cleanup initialization

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This commit is contained in:
Daniel Agar
2018-06-30 19:55:08 -04:00
parent 33a71c929d
commit c39ac93ca8
2 changed files with 20 additions and 26 deletions
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src/lib/drivers/device/integrator.cpp
+1 -9
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@@ -41,23 +41,15 @@
*/
#include "integrator.h"
#include <drivers/drv_hrt.h>
Integrator::Integrator(uint64_t auto_reset_interval, bool coning_compensation) :
_auto_reset_interval(auto_reset_interval),
_last_integration_time(0),
_last_reset_time(0),
_alpha(0.0f, 0.0f, 0.0f),
_last_alpha(0.0f, 0.0f, 0.0f),
_beta(0.0f, 0.0f, 0.0f),
_last_val(0.0f, 0.0f, 0.0f),
_last_delta_alpha(0.0f, 0.0f, 0.0f),
_coning_comp_on(coning_compensation)
{
}
Integrator::~Integrator() = default;
bool
Integrator::put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint64_t &integral_dt)
{