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Code Issues Releases Activity

OP-908 clean some defines from sensor.c

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+review OPReview-436
This commit is contained in:
Alessio Morale 2013-04-20 23:02:51 +02:00
parent 36c0ec100b
commit d64b1e5c90
1 changed files with 17 additions and 18 deletions
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35
flight/Modules/Sensors/sensors.c
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@ -46,20 +46,21 @@
*
*/
#include "openpilot.h"
#include <openpilot.h>
#include "homelocation.h"
#include "magnetometer.h"
#include "magbias.h"
#include "accels.h"
#include "gyros.h"
#include "gyrosbias.h"
#include "attitudeactual.h"
#include "attitudesettings.h"
#include "revocalibration.h"
#include "flightstatus.h"
#include "CoordinateConversions.h"
#include <homelocation.h>
#include <magnetometer.h>
#include <magbias.h>
#include <accels.h>
#include <gyros.h>
#include <gyrosbias.h>
#include <attitudeactual.h>
#include <attitudesettings.h>
#include <revocalibration.h>
#include <flightstatus.h>
#include <CoordinateConversions.h>
#include <pios_math.h>
#include <pios_board_info.h>
// Private constants
@ -67,8 +68,6 @@
#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
#define SENSOR_PERIOD 2
#define F_PI ((float)M_PI)
#define PI_MOD(x) (fmodf(x + F_PI, F_PI * 2) - F_PI)
// Private types
@ -302,7 +301,7 @@ static void SensorsTask(void *parameters)
{
struct pios_mpu6000_data mpu6000_data;
xQueueHandle queue = PIOS_MPU6000_GetQueue();
while(xQueueReceive(queue, (void *) &mpu6000_data, gyro_samples == 0 ? 10 : 0) != errQUEUE_EMPTY)
{
gyro_accum[0] += mpu6000_data.gyro_x;
@ -316,7 +315,7 @@ static void SensorsTask(void *parameters)
gyro_samples ++;
accel_samples ++;
}
if (gyro_samples == 0) {
PIOS_MPU6000_ReadGyros(&mpu6000_data);
error = true;
@ -498,8 +497,8 @@ static void magOffsetEstimation(MagnetometerData *mag)
B_e[1] = R[0][1] * mag->x + R[1][1] * mag->y + R[2][1] * mag->z;
B_e[2] = R[0][2] * mag->x + R[1][2] * mag->y + R[2][2] * mag->z;
float cy = cosf(attitude.Yaw * F_PI / 180.0f);
float sy = sinf(attitude.Yaw * F_PI / 180.0f);
float cy = cosf(DEG2RAD(attitude.Yaw));
float sy = sinf(DEG2RAD(attitude.Yaw));
xy[0] = cy * B_e[0] + sy * B_e[1];
xy[1] = -sy * B_e[0] + cy * B_e[1];