diff options
| author | Keith Packard <keithp@keithp.com> | 2013-12-20 22:06:52 -0800 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2013-12-20 22:06:52 -0800 |
| commit | c8b27410e45cc3d80ad4b896bffe70e9aec5e3aa (patch) | |
| tree | 4710753f2212ab00ee97f278c5748e1692856679 | |
| parent | 2a912dcde191e2f750845c464611641a5abdc28a (diff) | |
altos: 3-axis accel calibration was invalid in explicit accel cal mode
When explicit Z-axis accel calibration values were provided to the 'c
a' command, the 3-axis accelerometer calibration values would get set
to uninitialized values. Not so helpful.
Signed-off-by: Keith Packard <keithp@keithp.com>
| -rw-r--r-- | src/core/ao_config.c | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/src/core/ao_config.c b/src/core/ao_config.c index a30ec64a..4a1c58b9 100644 --- a/src/core/ao_config.c +++ b/src/core/ao_config.c @@ -353,9 +353,9 @@ ao_config_accel_calibrate_set(void) __reentrant { int16_t up, down; #if HAS_GYRO - int16_t accel_along_up, accel_along_down; - int16_t accel_across_up, accel_across_down; - int16_t accel_through_up, accel_through_down; + int16_t accel_along_up = 0, accel_along_down = 0; + int16_t accel_across_up = 0, accel_across_down = 0; + int16_t accel_through_up = 0, accel_through_down = 0; #endif ao_cmd_decimal(); @@ -390,9 +390,11 @@ ao_config_accel_calibrate_set(void) __reentrant ao_config.accel_plus_g = up; ao_config.accel_minus_g = down; #if HAS_GYRO - ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2; - ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2; - ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2; + if (ao_cmd_lex_i == 0) { + ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2; + ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2; + ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2; + } #endif _ao_config_edit_finish(); } |