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Merge pull request #3047 from martinbudden/bf_gyro_variable_renames 

Minor variable renames in gyro sensor
This commit is contained in:
Martin Budden 2017-05-08 08:37:16 +01:00 committed by GitHub
parent ebbfda2f6c 6d72117b8d
commit 04967e9f39
1 changed files with 14 additions and 14 deletions
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28
src/main/sensors/gyro.c
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@ -73,7 +73,7 @@ gyro_t gyro;
typedef struct gyroCalibration_s { typedef struct gyroCalibration_s {
int32_t g[XYZ_AXIS_COUNT]; int32_t sum[XYZ_AXIS_COUNT];
stdev_t var[XYZ_AXIS_COUNT]; stdev_t var[XYZ_AXIS_COUNT];
uint16_t calibratingG; uint16_t calibratingG;
} gyroCalibration_t; } gyroCalibration_t;
@ -86,7 +86,7 @@ typedef union gyroSoftFilter_u {
typedef struct gyroSensor_s { typedef struct gyroSensor_s {
gyroDev_t gyroDev; gyroDev_t gyroDev;
gyroCalibration_t gyroCalibration; gyroCalibration_t calibration;
// gyro soft filter // gyro soft filter
filterApplyFnPtr softLpfFilterApplyFn; filterApplyFnPtr softLpfFilterApplyFn;
gyroSoftLpfFilter_t softLpfFilter; gyroSoftLpfFilter_t softLpfFilter;
@ -433,7 +433,7 @@ void gyroInitFilters(void)
bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor) bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
{ {
return gyroSensor->gyroCalibration.calibratingG == 0; return gyroSensor->calibration.calibratingG == 0;
} }
bool isGyroCalibrationComplete(void) bool isGyroCalibrationComplete(void)
@ -458,7 +458,7 @@ static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibrati
static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor) static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
{ {
gyroSensor->gyroCalibration.calibratingG = gyroCalculateCalibratingCycles(); gyroSensor->calibration.calibratingG = gyroCalculateCalibratingCycles();
} }
void gyroStartCalibration(void) void gyroStartCalibration(void)
@ -470,19 +470,19 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
{ {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
// Reset g[axis] at start of calibration // Reset g[axis] at start of calibration
if (isOnFirstGyroCalibrationCycle(&gyroSensor->gyroCalibration)) { if (isOnFirstGyroCalibrationCycle(&gyroSensor->calibration)) {
gyroSensor->gyroCalibration.g[axis] = 0; gyroSensor->calibration.sum[axis] = 0;
devClear(&gyroSensor->gyroCalibration.var[axis]); devClear(&gyroSensor->calibration.var[axis]);
// gyroZero is set to zero until calibration complete // gyroZero is set to zero until calibration complete
gyroSensor->gyroDev.gyroZero[axis] = 0; gyroSensor->gyroDev.gyroZero[axis] = 0;
} }
// Sum up CALIBRATING_GYRO_CYCLES readings // Sum up CALIBRATING_GYRO_CYCLES readings
gyroSensor->gyroCalibration.g[axis] += gyroSensor->gyroDev.gyroADCRaw[axis]; gyroSensor->calibration.sum[axis] += gyroSensor->gyroDev.gyroADCRaw[axis];
devPush(&gyroSensor->gyroCalibration.var[axis], gyroSensor->gyroDev.gyroADCRaw[axis]); devPush(&gyroSensor->calibration.var[axis], gyroSensor->gyroDev.gyroADCRaw[axis]);
if (isOnFinalGyroCalibrationCycle(&gyroSensor->gyroCalibration)) { if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
const float stddev = devStandardDeviation(&gyroSensor->gyroCalibration.var[axis]); const float stddev = devStandardDeviation(&gyroSensor->calibration.var[axis]);
DEBUG_SET(DEBUG_GYRO, DEBUG_GYRO_CALIBRATION, lrintf(stddev)); DEBUG_SET(DEBUG_GYRO, DEBUG_GYRO_CALIBRATION, lrintf(stddev));
@ -491,15 +491,15 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
gyroSetCalibrationCycles(gyroSensor); gyroSetCalibrationCycles(gyroSensor);
return; return;
} }
gyroSensor->gyroDev.gyroZero[axis] = (gyroSensor->gyroCalibration.g[axis] + (gyroCalculateCalibratingCycles() / 2)) / gyroCalculateCalibratingCycles(); gyroSensor->gyroDev.gyroZero[axis] = (gyroSensor->calibration.sum[axis] + (gyroCalculateCalibratingCycles() / 2)) / gyroCalculateCalibratingCycles();
} }
} }
if (isOnFinalGyroCalibrationCycle(&gyroSensor->gyroCalibration)) { if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics
beeper(BEEPER_GYRO_CALIBRATED); beeper(BEEPER_GYRO_CALIBRATED);
} }
--gyroSensor->gyroCalibration.calibratingG; --gyroSensor->calibration.calibratingG;
} }