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sensors: allow up to 4 accels, gyros, and baros and add configurable rotations for accel & gyro

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This commit is contained in:
Daniel Agar
2020-10-08 19:01:44 -04:00
committed by GitHub
parent 28956e0399
commit eecf2e7a1e
47 changed files with 2881 additions and 1163 deletions
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src/modules/temperature_compensation/TemperatureCompensationModule.cpp
+3 -3
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@@ -113,7 +113,7 @@ void TemperatureCompensationModule::parameters_update()
void TemperatureCompensationModule::accelPoll()
{
float *offsets[] = {_corrections.accel_offset_0, _corrections.accel_offset_1, _corrections.accel_offset_2 };
float *offsets[] = {_corrections.accel_offset_0, _corrections.accel_offset_1, _corrections.accel_offset_2, _corrections.accel_offset_3 };
// For each accel instance
for (uint8_t uorb_index = 0; uorb_index < ACCEL_COUNT_MAX; uorb_index++) {
@@ -135,7 +135,7 @@ void TemperatureCompensationModule::accelPoll()
void TemperatureCompensationModule::gyroPoll()
{
float *offsets[] = {_corrections.gyro_offset_0, _corrections.gyro_offset_1, _corrections.gyro_offset_2 };
float *offsets[] = {_corrections.gyro_offset_0, _corrections.gyro_offset_1, _corrections.gyro_offset_2, _corrections.gyro_offset_3 };
// For each gyro instance
for (uint8_t uorb_index = 0; uorb_index < GYRO_COUNT_MAX; uorb_index++) {
@@ -157,7 +157,7 @@ void TemperatureCompensationModule::gyroPoll()
void TemperatureCompensationModule::baroPoll()
{
float *offsets[] = {&_corrections.baro_offset_0, &_corrections.baro_offset_1, &_corrections.baro_offset_2 };
float *offsets[] = {&_corrections.baro_offset_0, &_corrections.baro_offset_1, &_corrections.baro_offset_2, &_corrections.baro_offset_3 };
// For each baro instance
for (uint8_t uorb_index = 0; uorb_index < BARO_COUNT_MAX; uorb_index++) {