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Code Issues Releases Activity

Force the loading of the sensor gains and biases at the beginning

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James Cotton 2011-12-24 16:14:28 -06:00
parent 1092ac3184
commit 9bf06bbd3e
1 changed files with 14 additions and 17 deletions
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31
flight/Modules/Sensors/sensors.c
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@ -259,24 +259,21 @@ static void SensorsTask(void *parameters)
* Locally cache some variables from the AtttitudeSettings object
*/
static void settingsUpdatedCb(UAVObjEvent * objEv) {
if(objEv->obj == RevoCalibrationHandle()) {
RevoCalibrationData cal;
RevoCalibrationGet(&cal);
mag_bias[0] = cal.mag_bias[REVOCALIBRATION_MAG_BIAS_X];
mag_bias[1] = cal.mag_bias[REVOCALIBRATION_MAG_BIAS_Y];
mag_bias[2] = cal.mag_bias[REVOCALIBRATION_MAG_BIAS_Z];
mag_scale[0] = cal.mag_scale[REVOCALIBRATION_MAG_SCALE_X];
mag_scale[1] = cal.mag_scale[REVOCALIBRATION_MAG_SCALE_Y];
mag_scale[2] = cal.mag_scale[REVOCALIBRATION_MAG_SCALE_Z];
accel_bias[0] = cal.accel_bias[REVOCALIBRATION_ACCEL_BIAS_X];
accel_bias[1] = cal.accel_bias[REVOCALIBRATION_ACCEL_BIAS_Y];
accel_bias[2] = cal.accel_bias[REVOCALIBRATION_ACCEL_BIAS_Z];
accel_scale[0] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_X];
accel_scale[1] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_Y];
accel_scale[2] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_Z];
}
RevoCalibrationData cal;
RevoCalibrationGet(&cal);
mag_bias[0] = cal.mag_bias[REVOCALIBRATION_MAG_BIAS_X];
mag_bias[1] = cal.mag_bias[REVOCALIBRATION_MAG_BIAS_Y];
mag_bias[2] = cal.mag_bias[REVOCALIBRATION_MAG_BIAS_Z];
mag_scale[0] = cal.mag_scale[REVOCALIBRATION_MAG_SCALE_X];
mag_scale[1] = cal.mag_scale[REVOCALIBRATION_MAG_SCALE_Y];
mag_scale[2] = cal.mag_scale[REVOCALIBRATION_MAG_SCALE_Z];
accel_bias[0] = cal.accel_bias[REVOCALIBRATION_ACCEL_BIAS_X];
accel_bias[1] = cal.accel_bias[REVOCALIBRATION_ACCEL_BIAS_Y];
accel_bias[2] = cal.accel_bias[REVOCALIBRATION_ACCEL_BIAS_Z];
accel_scale[0] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_X];
accel_scale[1] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_Y];
accel_scale[2] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_Z];
}
/**
* @}