From now on there's a pair get_field_milligauss() and
get_offsets_milligauss() that can make the transition to the common
units across all compasses easier.
compile time optimization
Functions like sq() are better moved to the header file as inline.
Compiler can then optimize these out when used in code, this saves cpu
cycles with stack push, pop during function calls.
- add get_prev_nav_cmd_with_wp_index(). This is different than get_prev_nav_cmd_index() in that it only stores the index if there is a valid lat/lng (+1 squashed commits)
- added mission item command to NAV_LAND which is the abort takeoff altitude. If 0 then use last takeoff if available, else use 50m
This is a good way of letting each implementation easily calculate vibration
and clipping: all they need to do is publish their sample rate and they don't
need to worry about the call for calculation.
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.
Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
Staroselskii Georgii
Víctor Mayoral Vilches
Grant Morphett
Valmantas Palikša
Tom Pittenger
Fredrik Hedberg
Andrew Tridgell
Leonard Hall
Randy Mackay
Michael Oborne
Julien BERAUD
Gustavo Jose de Sousa