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stop manually defining physical constants

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This commit is contained in:
Daniel Agar
2018-04-19 07:24:58 +02:00
committed by Lorenz Meier
parent 7538ea44e3
commit d75fd72c02
27 changed files with 66 additions and 84 deletions
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src/platforms/posix/drivers/accelsim/accelsim.cpp
+2 -3
View File
@@ -71,7 +71,6 @@
#define ACCELSIM_ACCEL_DEFAULT_RATE 250
#define ACCELSIM_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
#define ACCELSIM_ONE_G 9.80665f
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
@@ -595,7 +594,7 @@ ACCELSIM::devIOCTL(unsigned long cmd, unsigned long arg)
case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */
return (unsigned long)((_accel_range_m_s2) / ACCELSIM_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCGSCALE:
/* copy scale out */
@@ -732,7 +731,7 @@ ACCELSIM::accel_set_range(unsigned max_g)
{
float new_scale_g_digit = 0.732e-3f;
_accel_range_scale = new_scale_g_digit * ACCELSIM_ONE_G;
_accel_range_scale = new_scale_g_digit * CONSTANTS_ONE_G;
return OK;
}
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+6 -8
View File
@@ -103,8 +103,6 @@ using namespace DriverFramework;
#define GYROSIM_GYRO_DEFAULT_RATE 400
#define GYROSIM_ONE_G 9.80665f
#ifdef PX4_SPI_BUS_EXT
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
#else
@@ -819,7 +817,7 @@ GYROSIM::devIOCTL(unsigned long cmd, unsigned long arg)
return set_accel_range(arg);
case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / GYROSIM_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@@ -920,8 +918,8 @@ GYROSIM::set_accel_range(unsigned max_g_in)
switch (_product) {
case GYROSIMES_REV_C4:
write_reg(MPUREG_ACCEL_CONFIG, 1 << 3);
_accel_range_scale = (GYROSIM_ONE_G / 4096.0f);
_accel_range_m_s2 = 8.0f * GYROSIM_ONE_G;
_accel_range_scale = (CONSTANTS_ONE_G / 4096.0f);
_accel_range_m_s2 = 8.0f * CONSTANTS_ONE_G;
return OK;
}
@@ -951,8 +949,8 @@ GYROSIM::set_accel_range(unsigned max_g_in)
}
write_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
_accel_range_scale = (GYROSIM_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * GYROSIM_ONE_G;
_accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
return OK;
}
@@ -1334,7 +1332,7 @@ test()
PX4_INFO("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
PX4_INFO("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
PX4_INFO("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / GYROSIM_ONE_G));
(double)(a_report.range_m_s2 / CONSTANTS_ONE_G));
/* do a simple demand read */
sz = h_gyro.read(&g_report, sizeof(g_report));