Minor variable renames in gyro sensor
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@ -73,7 +73,7 @@ gyro_t gyro;
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typedef struct gyroCalibration_s {
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int32_t g[XYZ_AXIS_COUNT];
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int32_t sum[XYZ_AXIS_COUNT];
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stdev_t var[XYZ_AXIS_COUNT];
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uint16_t calibratingG;
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} gyroCalibration_t;
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@ -86,7 +86,7 @@ typedef union gyroSoftFilter_u {
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typedef struct gyroSensor_s {
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gyroDev_t gyroDev;
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gyroCalibration_t gyroCalibration;
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gyroCalibration_t calibration;
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// gyro soft filter
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filterApplyFnPtr softLpfFilterApplyFn;
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gyroSoftLpfFilter_t softLpfFilter;
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@ -433,7 +433,7 @@ void gyroInitFilters(void)
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bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
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{
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return gyroSensor->gyroCalibration.calibratingG == 0;
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return gyroSensor->calibration.calibratingG == 0;
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}
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bool isGyroCalibrationComplete(void)
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@ -458,7 +458,7 @@ static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibrati
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static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
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{
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gyroSensor->gyroCalibration.calibratingG = gyroCalculateCalibratingCycles();
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gyroSensor->calibration.calibratingG = gyroCalculateCalibratingCycles();
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}
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void gyroStartCalibration(void)
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@ -470,19 +470,19 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
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{
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for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
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// Reset g[axis] at start of calibration
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if (isOnFirstGyroCalibrationCycle(&gyroSensor->gyroCalibration)) {
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gyroSensor->gyroCalibration.g[axis] = 0;
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devClear(&gyroSensor->gyroCalibration.var[axis]);
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if (isOnFirstGyroCalibrationCycle(&gyroSensor->calibration)) {
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gyroSensor->calibration.sum[axis] = 0;
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devClear(&gyroSensor->calibration.var[axis]);
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// gyroZero is set to zero until calibration complete
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gyroSensor->gyroDev.gyroZero[axis] = 0;
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}
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// Sum up CALIBRATING_GYRO_CYCLES readings
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gyroSensor->gyroCalibration.g[axis] += gyroSensor->gyroDev.gyroADCRaw[axis];
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devPush(&gyroSensor->gyroCalibration.var[axis], gyroSensor->gyroDev.gyroADCRaw[axis]);
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gyroSensor->calibration.sum[axis] += gyroSensor->gyroDev.gyroADCRaw[axis];
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devPush(&gyroSensor->calibration.var[axis], gyroSensor->gyroDev.gyroADCRaw[axis]);
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if (isOnFinalGyroCalibrationCycle(&gyroSensor->gyroCalibration)) {
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const float stddev = devStandardDeviation(&gyroSensor->gyroCalibration.var[axis]);
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if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
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const float stddev = devStandardDeviation(&gyroSensor->calibration.var[axis]);
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DEBUG_SET(DEBUG_GYRO, DEBUG_GYRO_CALIBRATION, lrintf(stddev));
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@ -491,15 +491,15 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
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gyroSetCalibrationCycles(gyroSensor);
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return;
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}
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gyroSensor->gyroDev.gyroZero[axis] = (gyroSensor->gyroCalibration.g[axis] + (gyroCalculateCalibratingCycles() / 2)) / gyroCalculateCalibratingCycles();
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gyroSensor->gyroDev.gyroZero[axis] = (gyroSensor->calibration.sum[axis] + (gyroCalculateCalibratingCycles() / 2)) / gyroCalculateCalibratingCycles();
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}
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}
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if (isOnFinalGyroCalibrationCycle(&gyroSensor->gyroCalibration)) {
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if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
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schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics
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beeper(BEEPER_GYRO_CALIBRATED);
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}
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--gyroSensor->gyroCalibration.calibratingG;
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--gyroSensor->calibration.calibratingG;
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}
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