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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-19 15:17:07 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-19 15:17:07 +0200 |
| commit | 544c1f5e24b18ca3806920d947635163873303e7 (patch) | |
| tree | b88f80dcf50b3be2895f412ae945e369ffb53bf6 | |
| parent | c72c460c984ccf88f29ac6ba37e9161a2bef03b7 (diff) | |
| download | px4-firmware-544c1f5e24b18ca3806920d947635163873303e7.tar.gz px4-firmware-544c1f5e24b18ca3806920d947635163873303e7.tar.bz2 px4-firmware-544c1f5e24b18ca3806920d947635163873303e7.zip | |
Fix incorrect use of sizeof, remove magic numbers
| -rw-r--r-- | src/drivers/device/polycomp.h | 23 |
1 files changed, 12 insertions, 11 deletions
diff --git a/src/drivers/device/polycomp.h b/src/drivers/device/polycomp.h index 1a1b9cdba..b00260e19 100644 --- a/src/drivers/device/polycomp.h +++ b/src/drivers/device/polycomp.h @@ -65,14 +65,15 @@ public: void set_coeffs(struct mag_scale &_scale); private: - float _x3[3]; /**< x^3 term of polynomial */ - float _x2[3]; /**< x^2 term of polynomial */ - float _x1[3]; /**< x^1 term of polynomial */ - float _offsets[3]; /**< */ - float _scales[3]; /**< */ - float _cal_temp; /**< temperature at which no compensation is needed */ - float _min_temp; /**< */ - float _max_temp; /**< */ + static const unsigned n_axes = 3; + float _x3[n_axes]; /**< x^3 term of polynomial */ + float _x2[n_axes]; /**< x^2 term of polynomial */ + float _x1[n_axes]; /**< x^1 term of polynomial */ + float _offsets[n_axes]; /**< x^0 / offset term of polynomial */ + float _scales[n_axes]; /**< linear scale error */ + float _cal_temp; /**< temperature at which no compensation is needed */ + float _min_temp; /**< minimum temperature with valid compensation data */ + float _max_temp; /**< maximum temperature with valid compensation data */ /* we don't want this class to be copied */ PolyComp(const PolyComp&); @@ -97,7 +98,7 @@ PolyComp::~PolyComp() void PolyComp::set_coeffs(struct accel_scale &_scale) { - for (unsigned i = 0; i < sizeof(3); i++) { + for (unsigned i = 0; i < n_axes; i++) { _x3[i] = _scale.x3_temp[i]; _x2[i] = _scale.x2_temp[i]; _x1[i] = _scale.x1_temp[i]; @@ -116,7 +117,7 @@ PolyComp::set_coeffs(struct accel_scale &_scale) void PolyComp::set_coeffs(struct gyro_scale &_scale) { - for (unsigned i = 0; i < sizeof(3); i++) { + for (unsigned i = 0; i < n_axes; i++) { _x3[i] = _scale.x3_temp[i]; _x2[i] = _scale.x2_temp[i]; _x1[i] = _scale.x1_temp[i]; @@ -135,7 +136,7 @@ PolyComp::set_coeffs(struct gyro_scale &_scale) void PolyComp::set_coeffs(struct mag_scale &_scale) { - for (unsigned i = 0; i < sizeof(3); i++) { + for (unsigned i = 0; i < n_axes; i++) { _x3[i] = _scale.x3_temp[i]; _x2[i] = _scale.x2_temp[i]; _x1[i] = _scale.x1_temp[i]; |