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drivers: Don't require driver level gyro offsets to be non-zero

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This commit is contained in:
Paul Riseborough
2017-01-28 12:20:03 +11:00
committed by Lorenz Meier
parent bdbc4f4d65
commit 253683af5f
5 changed files with 0 additions and 40 deletions
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src/drivers/bmi160/bmi160.cpp
-8
View File
@@ -551,14 +551,6 @@ BMI160::gyro_self_test()
return 1; return 1;
} }
/* check if all scales are zero */
if ((fabsf(_gyro_scale.x_offset) < 0.000001f) &&
(fabsf(_gyro_scale.y_offset) < 0.000001f) &&
(fabsf(_gyro_scale.z_offset) < 0.000001f)) {
/* if all are zero, this device is not calibrated */
return 1;
}
return 0; return 0;
} }
src/drivers/mpu6000/mpu6000.cpp
-8
View File
@@ -1105,14 +1105,6 @@ MPU6000::gyro_self_test()
return 1; return 1;
} }
/* check if all scales are zero */
if ((fabsf(_gyro_scale.x_offset) < 0.000001f) &&
(fabsf(_gyro_scale.y_offset) < 0.000001f) &&
(fabsf(_gyro_scale.z_offset) < 0.000001f)) {
/* if all are zero, this device is not calibrated */
return 1;
}
return 0; return 0;
} }
src/drivers/mpu6500/mpu6500.cpp
-8
View File
@@ -954,14 +954,6 @@ MPU6500::gyro_self_test()
return 1; return 1;
} }
/* check if all scales are zero */
if ((fabsf(_gyro_scale.x_offset) < 0.000001f) &&
(fabsf(_gyro_scale.y_offset) < 0.000001f) &&
(fabsf(_gyro_scale.z_offset) < 0.000001f)) {
/* if all are zero, this device is not calibrated */
return 1;
}
return 0; return 0;
} }
src/drivers/mpu9250/mpu9250.cpp
-8
View File
@@ -641,14 +641,6 @@ MPU9250::gyro_self_test()
return 1; return 1;
} }
/* check if all scales are zero */
if ((fabsf(_gyro_scale.x_offset) < 0.000001f) &&
(fabsf(_gyro_scale.y_offset) < 0.000001f) &&
(fabsf(_gyro_scale.z_offset) < 0.000001f)) {
/* if all are zero, this device is not calibrated */
return 1;
}
return 0; return 0;
} }
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
-8
View File
@@ -669,14 +669,6 @@ GYROSIM::gyro_self_test()
return 1; return 1;
} }
/* check if all scales are zero */
if ((fabsf(_gyro_scale.x_offset) < 0.000001f) &&
(fabsf(_gyro_scale.y_offset) < 0.000001f) &&
(fabsf(_gyro_scale.z_offset) < 0.000001f)) {
/* if all are zero, this device is not calibrated */
return 1;
}
return 0; return 0;
} }