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Code Issues Releases Activity

AHRS: Tidied up calibration sequence

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1831 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
les 2010-10-01 19:41:00 +00:00 committed by les
parent b2d56ca34c
commit 683aa2b480
1 changed files with 853 additions and 858 deletions
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17
flight/AHRS/ahrs_newspi.c
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@ -177,8 +177,6 @@ uint32_t counter_val;
//! Filter coefficients used in decimation. Limited order so filter can't run between samples
int16_t fir_coeffs[50];
//! Indicates the communications are requesting a calibration
uint8_t calibration_pending = FALSE;
//! The oversampling rate, ekf is 2k / this
static uint8_t adc_oversampling = 17;
@ -313,10 +311,6 @@ for all data to be up to date before doing anything*/
if ((total_conversion_blocks % 100) == 0)
PIOS_LED_Toggle(LED1);
if (calibration_pending) {
calibrate_sensors();
calibration_pending = FALSE;
}
#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
// Get magnetic readings
if (PIOS_HMC5843_NewDataAvailable()) {
@ -694,10 +688,6 @@ void calibrate_sensors()
gyro_data.calibration.bias[0] -= gyro_bias[0];
gyro_data.calibration.bias[1] -= gyro_bias[1];
gyro_data.calibration.bias[2] -= gyro_bias[2];
AHRSCalibrationData cal;
AHRSCalibrationGet(&cal);
cal.measure_var = AHRSCALIBRATION_MEASURE_VAR_SET;
AHRSCalibrationSet(&cal);
}
/**
@ -787,7 +777,12 @@ void calibration_callback(AhrsObjHandle obj)
mag_data.calibration.variance[ct] = cal.mag_var[ct];
}
}else if(cal.measure_var == AHRSCALIBRATION_MEASURE_VAR_MEASURE){
calibration_pending = true;
calibrate_sensors();
AHRSCalibrationData cal;
AHRSCalibrationGet(&cal);
cal.measure_var = AHRSCALIBRATION_MEASURE_VAR_SET;
AHRSCalibrationSet(&cal);
}else if(cal.measure_var == AHRSCALIBRATION_MEASURE_VAR_ECHO){
send_calibration();
}