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Minor variable renames in gyro sensor

This commit is contained in:
Martin Budden 2017-05-08 08:12:53 +01:00
parent 2c5deb8198
commit 6d72117b8d
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 {
int32_t g[XYZ_AXIS_COUNT];
int32_t sum[XYZ_AXIS_COUNT];
stdev_t var[XYZ_AXIS_COUNT];
uint16_t calibratingG;
} gyroCalibration_t;
@ -86,7 +86,7 @@ typedef union gyroSoftFilter_u {
typedef struct gyroSensor_s {
gyroDev_t gyroDev;
gyroCalibration_t gyroCalibration;
gyroCalibration_t calibration;
// gyro soft filter
filterApplyFnPtr softLpfFilterApplyFn;
gyroSoftLpfFilter_t softLpfFilter;
@ -433,7 +433,7 @@ void gyroInitFilters(void)
bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
{
return gyroSensor->gyroCalibration.calibratingG == 0;
return gyroSensor->calibration.calibratingG == 0;
}
bool isGyroCalibrationComplete(void)
@ -458,7 +458,7 @@ static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibrati
static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
{
gyroSensor->gyroCalibration.calibratingG = gyroCalculateCalibratingCycles();
gyroSensor->calibration.calibratingG = gyroCalculateCalibratingCycles();
}
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++) {
// Reset g[axis] at start of calibration
if (isOnFirstGyroCalibrationCycle(&gyroSensor->gyroCalibration)) {
gyroSensor->gyroCalibration.g[axis] = 0;
devClear(&gyroSensor->gyroCalibration.var[axis]);
if (isOnFirstGyroCalibrationCycle(&gyroSensor->calibration)) {
gyroSensor->calibration.sum[axis] = 0;
devClear(&gyroSensor->calibration.var[axis]);
// gyroZero is set to zero until calibration complete
gyroSensor->gyroDev.gyroZero[axis] = 0;
}
// Sum up CALIBRATING_GYRO_CYCLES readings
gyroSensor->gyroCalibration.g[axis] += gyroSensor->gyroDev.gyroADCRaw[axis];
devPush(&gyroSensor->gyroCalibration.var[axis], gyroSensor->gyroDev.gyroADCRaw[axis]);
gyroSensor->calibration.sum[axis] += gyroSensor->gyroDev.gyroADCRaw[axis];
devPush(&gyroSensor->calibration.var[axis], gyroSensor->gyroDev.gyroADCRaw[axis]);
if (isOnFinalGyroCalibrationCycle(&gyroSensor->gyroCalibration)) {
const float stddev = devStandardDeviation(&gyroSensor->gyroCalibration.var[axis]);
if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
const float stddev = devStandardDeviation(&gyroSensor->calibration.var[axis]);
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);
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
beeper(BEEPER_GYRO_CALIBRATED);
}
--gyroSensor->gyroCalibration.calibratingG;
--gyroSensor->calibration.calibratingG;
}