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Remove IMU calibration parameter checks

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This commit is contained in:
Paul Riseborough
2017-01-22 12:11:42 +11:00
committed by Lorenz Meier
parent fb774bef67
commit c00c638b77
6 changed files with 0 additions and 150 deletions
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src/drivers/bmi160/bmi160.cpp
-25
View File
@@ -504,31 +504,6 @@ BMI160::accel_self_test()
return 1;
}
/* inspect accel offsets */
if (fabsf(_accel_scale.x_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.y_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.z_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
return 1;
}
return 0;
}
src/drivers/lsm303d/lsm303d.cpp
-25
View File
@@ -1127,31 +1127,6 @@ LSM303D::accel_self_test()
return 1;
}
/* inspect accel offsets */
if (fabsf(_accel_scale.x_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.y_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.z_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
return 1;
}
return 0;
}
src/drivers/mpu6000/mpu6000.cpp
-25
View File
@@ -1052,31 +1052,6 @@ MPU6000::accel_self_test()
return 1;
}
/* inspect accel offsets */
if (fabsf(_accel_scale.x_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.y_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.z_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
return 1;
}
return 0;
}
src/drivers/mpu6500/mpu6500.cpp
-25
View File
@@ -905,31 +905,6 @@ MPU6500::accel_self_test()
return 1;
}
/* inspect accel offsets */
if (fabsf(_accel_scale.x_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.y_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.z_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
return 1;
}
return 0;
}
src/drivers/mpu9250/mpu9250.cpp
-25
View File
@@ -592,31 +592,6 @@ MPU9250::accel_self_test()
return 1;
}
/* inspect accel offsets */
if (fabsf(_accel_scale.x_offset) < 0.000001f) {
return 2;
}
if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
return 3;
}
if (fabsf(_accel_scale.y_offset) < 0.000001f) {
return 4;
}
if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
return 5;
}
if (fabsf(_accel_scale.z_offset) < 0.000001f) {
return 6;
}
if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
return 7;
}
return 0;
}
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
-25
View File
@@ -618,31 +618,6 @@ GYROSIM::accel_self_test()
return 1;
}
/* inspect accel offsets */
if (fabsf(_accel_scale.x_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.y_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.z_offset) < 0.000001f) {
return 1;
}
if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
return 1;
}
return 0;
}