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fix some coding format.

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LETBBI
2022-03-30 01:22:43 +09:00
parent 52f1010e17
commit 9ff3938cdf
1 changed files with 6 additions and 8 deletions
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14
src/sensors/mpu9250sensor.cpp
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@@ -63,8 +63,7 @@ void MPU9250Sensor::motionSetup() {
imu.getAcceleration(&ax, &ay, &az);
g_az = (float)az / 16384;
if(g_az > 0.75f)
{
if(g_az > 0.75f) {
m_Logger.debug("Starting calibration...");
startCalibration(0);
}
@@ -167,9 +166,9 @@ void MPU9250Sensor::getMPUScaled()
{
float temp[3];
int i;
int16_t ax,ay,az,gx,gy,gz,mx,my,mz;
#if defined(_MAHONY_H_) || defined(_MADGWICK_H_)
int16_t ax,ay,az,gx,gy,gz,mx,my,mz;
imu.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
Gxyz[0] = ((float)gx - calibration->G_off[0]) * gscale; //250 LSB(d/s) default to radians/s
Gxyz[1] = ((float)gy - calibration->G_off[1]) * gscale;
@@ -192,6 +191,7 @@ void MPU9250Sensor::getMPUScaled()
#endif
#else
int16_t mx, my, mz;
// with DMP, we just need mag data
imu.getMagnetometer(&mx, &my, &mz);
#endif
@@ -225,10 +225,9 @@ void MPU9250Sensor::startCalibration(int calibrationType) {
m_Logger.info("Gently rotate the device while it's gathering magnetometer data");
ledManager.pattern(15, 300, 3000/310);
float *calibrationDataMag = (float*)malloc(calibrationSamples * 3 * sizeof(float));
for (int i = 0; i < calibrationSamples; i++)
{
for (int i = 0; i < calibrationSamples; i++) {
ledManager.on();
int16_t ax,ay,az,gx,gy,gz,mx,my,mz;
int16_t mx,my,mz;
imu.getMagnetometer(&mx, &my, &mz);
calibrationDataMag[i * 3 + 0] = my;
calibrationDataMag[i * 3 + 1] = mx;
@@ -293,8 +292,7 @@ void MPU9250Sensor::startCalibration(int calibrationType) {
ledManager.pattern(15, 300, 3000/310);
float *calibrationDataAcc = (float*)malloc(calibrationSamples * 3 * sizeof(float));
float *calibrationDataMag = (float*)malloc(calibrationSamples * 3 * sizeof(float));
for (int i = 0; i < calibrationSamples; i++)
{
for (int i = 0; i < calibrationSamples; i++) {
ledManager.on();
int16_t ax,ay,az,gx,gy,gz,mx,my,mz;
imu.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);