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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-05-06 18:21:56 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-05-06 18:21:56 +0400 |
| commit | 41ec41cf8cc16309cf6f7e949d3ddad78e5f44a2 (patch) | |
| tree | bdc7b8d91997fc534dae10eb72f7083dfc945274 /apps/commander/accelerometer_calibration.c | |
| parent | 1733fce3df71ae3d49d53ff4f62583a8db78f38b (diff) | |
| download | px4-firmware-41ec41cf8cc16309cf6f7e949d3ddad78e5f44a2.tar.gz px4-firmware-41ec41cf8cc16309cf6f7e949d3ddad78e5f44a2.tar.bz2 px4-firmware-41ec41cf8cc16309cf6f7e949d3ddad78e5f44a2.zip | |
Accelerometer calibration bugfix
Diffstat (limited to 'apps/commander/accelerometer_calibration.c')
| -rw-r--r-- | apps/commander/accelerometer_calibration.c | 14 |
1 files changed, 6 insertions, 8 deletions
diff --git a/apps/commander/accelerometer_calibration.c b/apps/commander/accelerometer_calibration.c index 991145d73..d79dd93dd 100644 --- a/apps/commander/accelerometer_calibration.c +++ b/apps/commander/accelerometer_calibration.c @@ -232,7 +232,6 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { float accel_ema[3] = { 0.0f, 0.0f, 0.0f }; /* max-hold dispersion of accel */ float accel_disp[3] = { 0.0f, 0.0f, 0.0f }; - float accel_len2 = 0.0f; /* EMA time constant in seconds*/ float ema_len = 0.2f; /* set "still" threshold to 0.1 m/s^2 */ @@ -304,30 +303,29 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { } } - float accel_len = sqrt(accel_len2); - if ( fabs(accel_ema[0] - accel_len) < accel_err_thr && + if ( fabs(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr && fabs(accel_ema[1]) < accel_err_thr && fabs(accel_ema[2]) < accel_err_thr ) return 0; // [ g, 0, 0 ] - if ( fabs(accel_ema[0] + accel_len) < accel_err_thr && + if ( fabs(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr && fabs(accel_ema[1]) < accel_err_thr && fabs(accel_ema[2]) < accel_err_thr ) return 1; // [ -g, 0, 0 ] if ( fabs(accel_ema[0]) < accel_err_thr && - fabs(accel_ema[1] - accel_len) < accel_err_thr && + fabs(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr && fabs(accel_ema[2]) < accel_err_thr ) return 2; // [ 0, g, 0 ] if ( fabs(accel_ema[0]) < accel_err_thr && - fabs(accel_ema[1] + accel_len) < accel_err_thr && + fabs(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr && fabs(accel_ema[2]) < accel_err_thr ) return 3; // [ 0, -g, 0 ] if ( fabs(accel_ema[0]) < accel_err_thr && fabs(accel_ema[1]) < accel_err_thr && - fabs(accel_ema[2] - accel_len) < accel_err_thr ) + fabs(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr ) return 4; // [ 0, 0, g ] if ( fabs(accel_ema[0]) < accel_err_thr && fabs(accel_ema[1]) < accel_err_thr && - fabs(accel_ema[2] + accel_len) < accel_err_thr ) + fabs(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr ) return 5; // [ 0, 0, -g ] mavlink_log_info(mavlink_fd, "ERROR: invalid orientation"); |