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altos: Use factory calibration for all acceleration computations
[fw/altos]
/
altoslib
/
AltosState.java
diff --git
a/altoslib/AltosState.java
b/altoslib/AltosState.java
index 134aeb4e34eaa3929a86b6e91cd49076a6b2aa95..08dafbb4c8ad6d12333e458638e6732abc04aede 100644
(file)
--- a/
altoslib/AltosState.java
+++ b/
altoslib/AltosState.java
@@
-949,14
+949,8
@@
public class AltosState implements Cloneable {
}
void update_accel() {
}
void update_accel() {
- double ground = ground_accel;
-
- if (ground == AltosLib.MISSING)
- ground = ground_accel_avg;
if (accel == AltosLib.MISSING)
return;
if (accel == AltosLib.MISSING)
return;
- if (ground == AltosLib.MISSING)
- return;
if (accel_plus_g == AltosLib.MISSING)
return;
if (accel_minus_g == AltosLib.MISSING)
if (accel_plus_g == AltosLib.MISSING)
return;
if (accel_minus_g == AltosLib.MISSING)
@@
-964,7
+958,7
@@
public class AltosState implements Cloneable {
double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
double counts_per_mss = counts_per_g / 9.80665;
double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
double counts_per_mss = counts_per_g / 9.80665;
- acceleration.set_measured((
ground
- accel) / counts_per_mss, time);
+ acceleration.set_measured((
accel_plus_g
- accel) / counts_per_mss, time);
}
public void set_accel_g(double accel_plus_g, double accel_minus_g) {
}
public void set_accel_g(double accel_plus_g, double accel_minus_g) {
@@
-976,10
+970,8
@@
public class AltosState implements Cloneable {
}
public void set_ground_accel(double ground_accel) {
}
public void set_ground_accel(double ground_accel) {
- if (ground_accel != AltosLib.MISSING)
{
+ if (ground_accel != AltosLib.MISSING)
this.ground_accel = ground_accel;
this.ground_accel = ground_accel;
- update_accel();
- }
}
public void set_accel(double accel) {
}
public void set_accel(double accel) {