From fbef2b7a6a3436bcc0486b41cc5cdc4da6ab92ee Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 26 Jan 2017 10:44:12 +0100 Subject: [PATCH] accelerometer_calibration: avoid using accel_mapping This is not needed, as s is an uORB instance and accel_offset_0 contains data from uORB instance 0. --- src/modules/commander/accelerometer_calibration.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 4df15b1cb3..9d34b2bf1c 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -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];