From 3ff71c78144918b6730ed47639e08e44178b004e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Jan 2021 15:07:15 +1100
Subject: [PATCH] AP_InertialSensor: changes from review feedback

---
 .../AP_InertialSensor/AP_InertialSensor.cpp   | 20 +++++++++----------
 .../AP_InertialSensor_Backend.cpp             |  2 +-
 .../AP_InertialSensor_tempcal.cpp             |  2 +-
 3 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 64f583271d..4aa5eca1ac 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -576,7 +576,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     // @User: Advanced
     // @Units: degC
     // @Calibration: 1
-    AP_GROUPINFO("ACC1_CALTEMP", 46, AP_InertialSensor, caltemp_accel[0], -100),
+    AP_GROUPINFO("ACC1_CALTEMP", 46, AP_InertialSensor, caltemp_accel[0], -300),
 
     // @Param: GYR1_CALTEMP
     // @DisplayName: Calibration temperature for 1st gyroscope
@@ -584,7 +584,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     // @User: Advanced
     // @Units: degC
     // @Calibration: 1
-    AP_GROUPINFO("GYR1_CALTEMP", 47, AP_InertialSensor, caltemp_gyro[0], -100),
+    AP_GROUPINFO("GYR1_CALTEMP", 47, AP_InertialSensor, caltemp_gyro[0], -300),
 
 #if INS_MAX_INSTANCES > 1
     // @Param: ACC2_CALTEMP
@@ -593,7 +593,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     // @User: Advanced
     // @Units: degC
     // @Calibration: 1
-    AP_GROUPINFO("ACC2_CALTEMP", 48, AP_InertialSensor, caltemp_accel[1], -100),
+    AP_GROUPINFO("ACC2_CALTEMP", 48, AP_InertialSensor, caltemp_accel[1], -300),
 
     // @Param: GYR2_CALTEMP
     // @DisplayName: Calibration temperature for 2nd gyroscope
@@ -601,7 +601,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     // @User: Advanced
     // @Units: degC
     // @Calibration: 1
-    AP_GROUPINFO("GYR2_CALTEMP", 49, AP_InertialSensor, caltemp_gyro[1], -100),
+    AP_GROUPINFO("GYR2_CALTEMP", 49, AP_InertialSensor, caltemp_gyro[1], -300),
 #endif
 
 #if INS_MAX_INSTANCES > 2
@@ -611,7 +611,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     // @User: Advanced
     // @Units: degC
     // @Calibration: 1
-    AP_GROUPINFO("ACC3_CALTEMP", 50, AP_InertialSensor, caltemp_accel[2], -100),
+    AP_GROUPINFO("ACC3_CALTEMP", 50, AP_InertialSensor, caltemp_accel[2], -300),
 
     // @Param: GYR3_CALTEMP
     // @DisplayName: Calibration temperature for 3rd gyroscope
@@ -619,7 +619,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     // @User: Advanced
     // @Units: degC
     // @Calibration: 1
-    AP_GROUPINFO("GYR3_CALTEMP", 51, AP_InertialSensor, caltemp_gyro[2], -100),
+    AP_GROUPINFO("GYR3_CALTEMP", 51, AP_InertialSensor, caltemp_gyro[2], -300),
 #endif
 
     // @Param: TCAL_OPTIONS
@@ -1482,7 +1482,7 @@ void AP_InertialSensor::_save_gyro_calibration()
         _gyro_offset[i].set_and_save(Vector3f());
         _gyro_id[i].set_and_save(0);
 #if HAL_INS_TEMPERATURE_CAL_ENABLE
-        caltemp_gyro[i].set_and_save_ifchanged(-100);
+        caltemp_gyro[i].set_and_save_ifchanged(-300);
 #endif
     }
 }
@@ -1968,7 +1968,7 @@ bool AP_InertialSensor::is_still()
 // return true if we are in a calibration
 bool AP_InertialSensor::calibrating() const
 {
-    return _calibrating_accel || _calibrating_gyro || (_acal && _acal->active());
+    return _calibrating_accel || _calibrating_gyro || (_acal && _acal->running());
 }
 
 /// calibrating - returns true if a temperature calibration is running
@@ -2053,7 +2053,7 @@ void AP_InertialSensor::_acal_save_calibrations()
             _accel_offset[i].set_and_save(Vector3f());
             _accel_scale[i].set_and_save(Vector3f());
 #if HAL_INS_TEMPERATURE_CAL_ENABLE
-            caltemp_accel[i].set_and_save(-100);
+            caltemp_accel[i].set_and_save(-300);
 #endif
         }
     }
@@ -2064,7 +2064,7 @@ void AP_InertialSensor::_acal_save_calibrations()
         _accel_offset[i].set_and_save(Vector3f());
         _accel_scale[i].set_and_save(Vector3f());
 #if HAL_INS_TEMPERATURE_CAL_ENABLE
-        caltemp_accel[i].set_and_save_ifchanged(-100);
+        caltemp_accel[i].set_and_save_ifchanged(-300);
 #endif
     }
     
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index ff2ee0786f..8da87960d3 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -101,7 +101,7 @@ void AP_InertialSensor_Backend::_rotate_and_correct_accel(uint8_t instance, Vect
     }
 #endif
 
-    if (!_imu._calibrating_accel && (_imu._acal == nullptr || !_imu._acal->active())) {
+    if (!_imu._calibrating_accel && (_imu._acal == nullptr || !_imu._acal->running())) {
 
 #if HAL_INS_TEMPERATURE_CAL_ENABLE
         // apply temperature corrections
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
index 53051ad4cc..b8cc10802f 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
@@ -378,7 +378,7 @@ void AP_InertialSensor::TCal::Learn::reset(float temperature)
     memset(state, 0, sizeof(state));
     start_tmax = tcal.temp_max;
     accel_start.zero();
-    for (uint8_t i=0; i<2; i++) {
+    for (uint8_t i=0; i<ARRAY_SIZE(state); i++) {
         state[i].temp_filter.set_cutoff_frequency(1000, 0.5);
         state[i].temp_filter.reset(temperature);
         state[i].last_temp = temperature;