fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

accelerometer_calibration: avoid using accel_mapping

Browse Source 
This is not needed, as s is an uORB instance and accel_offset_0
contains data from uORB instance 0.
This commit is contained in:
Beat Küng 2017-01-26 10:44:12 +01:00 committed by Lorenz Meier
parent 97d7164b64
commit fbef2b7a6a
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/commander/accelerometer_calibration.cpp
View File

@ -603,15 +603,15 @@ calibrate_return read_accelerometer_avg(int sensor_correction_sub, int (&subs)[m
orb_copy(ORB_ID(sensor_accel), subs[s], &arp);
// Apply thermal corrections
if (sensor_correction.accel_mapping[s] == 0) {
if (s == 0) {
accel_sum[s][0] += (arp.x - sensor_correction.accel_offset_0[0]) * sensor_correction.accel_scale_0[0];
accel_sum[s][1] += (arp.y - sensor_correction.accel_offset_0[1]) * sensor_correction.accel_scale_0[1];
accel_sum[s][2] += (arp.z - sensor_correction.accel_offset_0[2]) * sensor_correction.accel_scale_0[2];
} else if (sensor_correction.accel_mapping[s] == 1) {
} else if (s == 1) {
accel_sum[s][0] += (arp.x - sensor_correction.accel_offset_1[0]) * sensor_correction.accel_scale_1[0];
accel_sum[s][1] += (arp.y - sensor_correction.accel_offset_1[1]) * sensor_correction.accel_scale_1[1];
accel_sum[s][2] += (arp.z - sensor_correction.accel_offset_1[2]) * sensor_correction.accel_scale_1[2];
} else if (sensor_correction.accel_mapping[s] == 2) {
} else if (s == 2) {
accel_sum[s][0] += (arp.x - sensor_correction.accel_offset_2[0]) * sensor_correction.accel_scale_2[0];
accel_sum[s][1] += (arp.y - sensor_correction.accel_offset_2[1]) * sensor_correction.accel_scale_2[1];
accel_sum[s][2] += (arp.z - sensor_correction.accel_offset_2[2]) * sensor_correction.accel_scale_2[2];