From 8b5f66255e4f77580bb6e4de222cffd422b395e7 Mon Sep 17 00:00:00 2001 From: rmackay9 Date: Wed, 5 Dec 2012 09:35:55 +0900 Subject: [PATCH] AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt --- libraries/AP_InertialSensor/AP_InertialSensor.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index 8daf897a13..71c5aac7dc 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -263,7 +263,10 @@ AP_InertialSensor::_init_accel(void (*delay_cb)(unsigned long t), void (*flash_l } #if !defined( __AVR_ATmega1280__ ) -// perform accelerometer calibration including providing user instructions and feedback +// calibrate_accel - perform accelerometer calibration including providing user instructions and feedback +// Gauss-Newton accel calibration routines borrowed from Rolfe Schmidt +// blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/ +// original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde bool AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on), void (*send_msg)(const prog_char_t *, ...), void (*wait_key)(void))