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move from CALIBRATING_GYRO_CYCLES to CALIBRATING_GYRO_TIME ... absolu… (#5320) 

* move from CALIBRATING_GYRO_CYCLES to CALIBRATING_GYRO_TIME ... absolute calibration time

* DieHertz requested changes

* cleanup indentation
This commit is contained in:
adrianmiriuta 2018-03-03 23:46:15 +01:00 committed by Michael Keller
parent 73eb5d396e
commit 3855d254b0
2 changed files with 3 additions and 3 deletions
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4
src/main/sensors/gyro.c
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@ -746,7 +746,7 @@ static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibrati
static uint16_t gyroCalculateCalibratingCycles(void)
{
return (CALIBRATING_GYRO_CYCLES / gyro.targetLooptime) * CALIBRATING_GYRO_CYCLES;
return (CALIBRATING_GYRO_TIME_US / gyro.targetLooptime);
}
static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
@ -789,7 +789,7 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
gyroSensor->gyroDev.gyroZero[axis] = 0;
}
// Sum up CALIBRATING_GYRO_CYCLES readings
// Sum up CALIBRATING_GYRO_TIME_US readings
gyroSensor->calibration.sum[axis] += gyroSensor->gyroDev.gyroADCRaw[axis];
devPush(&gyroSensor->calibration.var[axis], gyroSensor->gyroDev.gyroADCRaw[axis]);

2
src/main/sensors/sensors.h
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@ -40,7 +40,7 @@ typedef union flightDynamicsTrims_u {
flightDynamicsTrims_def_t values;
} flightDynamicsTrims_t;
#define CALIBRATING_GYRO_CYCLES 10000
#define CALIBRATING_GYRO_TIME_US 3000000
#define CALIBRATING_ACC_CYCLES 400
#define CALIBRATING_BARO_CYCLES 200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles