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Code Issues Releases Activity

Make sure to always compare BiasCorrectedRaw against its enum. Also reversed

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the order of TRUE,FALSE in the definition to make it safer anyway.
This commit is contained in:
James Cotton 2012-07-21 15:44:23 -05:00
parent d36663dbbd
commit 5649813c2b
3 changed files with 3 additions and 3 deletions
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2
flight/Modules/Attitude/revolution/attitude.c
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@ -718,7 +718,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
// Because the sensor module remove the bias we need to add it
// back in here so that the INS algorithm can track it correctly
float gyros[3] = {gyrosData.x * F_PI / 180.0f, gyrosData.y * F_PI / 180.0f, gyrosData.z * F_PI / 180.0f};
if (revoCalibration.BiasCorrectedRaw) {
if (revoCalibration.BiasCorrectedRaw == REVOCALIBRATION_BIASCORRECTEDRAW_TRUE) {
gyros[0] += gyrosBias.x * F_PI / 180.0f;
gyros[1] += gyrosBias.y * F_PI / 180.0f;
gyros[2] += gyrosBias.z * F_PI / 180.0f;

2
flight/Modules/Sensors/sensors.c
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@ -453,7 +453,7 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
AttitudeSettingsData attitudeSettings;
AttitudeSettingsGet(&attitudeSettings);
bias_correct_gyro = (attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE);
bias_correct_gyro = (cal.BiasCorrectedRaw == REVOCALIBRATION_BIASCORRECTEDRAW_TRUE);
// Indicates not to expend cycles on rotation
if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 &&

2
shared/uavobjectdefinition/revocalibration.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="RevoCalibration" singleinstance="true" settings="true">
<description>Settings for the INS to control the algorithm and what is updated</description>
<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="TRUE,FALSE" defaultvalue="TRUE"/>
<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<!-- Sensor noises -->
<field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>