C++ acc_t类代码示例

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本文整理汇总了C++中acc_t类的典型用法代码示例。如果您正苦于以下问题：C++ acc_t类的具体用法？C++ acc_t怎么用？C++ acc_t使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。

在下文中一共展示了acc_t类的8个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的C++代码示例。

示例1: updateAccelerationReadings

void updateAccelerationReadings(void)
{
    if (!acc.read(accADCRaw)) {
        return;
    }

    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) accADC[axis] = accADCRaw[axis];

    if (accLpfCutHz) {
        if (!accFilterInitialised) {
            if (targetLooptime) {  /* Initialisation needs to happen once sample rate is known */
                for (int axis = 0; axis < 3; axis++) {
                    biquadFilterInit(&accFilterState[axis], accLpfCutHz, 0);
                }

                accFilterInitialised = true;
            }
        }

        if (accFilterInitialised) {
            for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
                accADC[axis] = lrintf(biquadFilterApply(&accFilterState[axis], (float) accADC[axis]));
            }
        }
    }

    if (!isAccelerationCalibrationComplete()) {
        performAcclerationCalibration();
    }

    applyAccelerationZero(accZero, accGain);

    alignSensors(accADC, accADC, accAlign);
}

开发者ID:Ravenholm14，项目名称:inav，代码行数:34，代码来源:acceleration.c

示例2: sensorsAutodetect

bool sensorsAutodetect(void)
{
    memset(&acc, 0, sizeof(acc));
    memset(&gyro, 0, sizeof(gyro));

#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)

    const extiConfig_t *extiConfig = selectMPUIntExtiConfig();

    mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
    UNUSED(mpuDetectionResult);
#endif

    if (!detectGyro()) {
        return false;
    }
    detectAcc(sensorSelectionConfig()->acc_hardware);
    detectBaro(sensorSelectionConfig()->baro_hardware);


    // Now time to init things, acc first
    if (sensors(SENSOR_ACC))
        acc.init();
    // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
    gyro.init(gyroConfig()->gyro_lpf);

#ifdef MAG
    detectMag(sensorSelectionConfig()->mag_hardware);
#endif

    reconfigureAlignment(sensorAlignmentConfig());

    return true;
}

开发者ID:AquaSoftware，项目名称:betaflight，代码行数:34，代码来源:initialisation.c

示例3: sensorsAutodetect

bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse,
        int16_t magDeclinationFromConfig,
        uint32_t looptime, uint8_t gyroSync, uint8_t gyroSyncDenominator) {

    int16_t deg, min;

#ifndef MAG
    UNUSED(magHardwareToUse);
#endif
    memset(&acc, 0, sizeof(acc));
    memset(&gyro, 0, sizeof(gyro));

#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)

    const extiConfig_t *extiConfig = selectMPUIntExtiConfig();

    mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
    UNUSED(mpuDetectionResult);
#endif

    if (!detectGyro()) {
        return false;
    }
    detectAcc(accHardwareToUse);
    detectBaro(baroHardwareToUse);


    // Now time to init things, acc first
    if (sensors(SENSOR_ACC))
        acc.init();
    // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
    gyroUpdateSampleRate(looptime, gyroLpf, gyroSync, gyroSyncDenominator);   // Set gyro sampling rate divider before initialization
    gyro.init(gyroLpf);

#ifdef MAG
    detectMag(magHardwareToUse);
#endif

    reconfigureAlignment(sensorAlignmentConfig);

    // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
    if (sensors(SENSOR_MAG)) {
        // calculate magnetic declination
        deg = magDeclinationFromConfig / 100;
        min = magDeclinationFromConfig % 100;

        magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
    } else {
        magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
    }

    return true;
}

开发者ID:elf128，项目名称:cleanflight，代码行数:53，代码来源:initialisation.c

示例4: updateAccelerationReadings

void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
    acc.read(accADC);
    alignSensors(accADC, accADC, accAlign);

    if (!isAccelerationCalibrationComplete()) {
        performAcclerationCalibration(rollAndPitchTrims);
    }

    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
        performInflightAccelerationCalibration(rollAndPitchTrims);
    }

    applyAccelerationTrims(accelerationTrims);
}

开发者ID:nico-dh，项目名称:cleanflight，代码行数:15，代码来源:acceleration.c

示例5: sensorsAutodetect

bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse,
        int16_t magDeclinationFromConfig) {

    int16_t deg, min;

    memset(&acc, 0, sizeof(acc));
    memset(&gyro, 0, sizeof(gyro));

#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)

    const extiConfig_t *extiConfig = selectMPUIntExtiConfig();

    mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
    UNUSED(mpuDetectionResult);
#endif

    if (!detectGyro()) {
        return false;
    }
    detectAcc(accHardwareToUse);
    detectBaro(baroHardwareToUse);


    // Now time to init things, acc first
    if (sensors(SENSOR_ACC))
        acc.init(&acc);

    gyro.init(gyroLpf);

    detectMag(magHardwareToUse);

    reconfigureAlignment(sensorAlignmentConfig);

    // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
    if (sensors(SENSOR_MAG)) {
        // calculate magnetic declination
        deg = magDeclinationFromConfig / 100;
        min = magDeclinationFromConfig % 100;

        magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
    } else {
        magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
    }

    return true;
}

开发者ID:inturbo，项目名称:inav，代码行数:46，代码来源:initialisation.c

示例6: updateAccelerationReadings

void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
    int16_t accADCRaw[XYZ_AXIS_COUNT];

    if (!acc.read(accADCRaw)) {
        return;
    }

    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
        if (debugMode == DEBUG_ACCELEROMETER) debug[axis] = accADCRaw[axis];
        accSmooth[axis] = accADCRaw[axis];
    }

    if (accLpfCutHz) {
        if (!accFilterInitialised) {
            if (accTargetLooptime) {  /* Initialisation needs to happen once sample rate is known */
                for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
                    biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, accTargetLooptime);
                }
                accFilterInitialised = true;
            }
        }

        if (accFilterInitialised) {
            for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
                accSmooth[axis] = lrintf(biquadFilterApply(&accFilter[axis], (float)accSmooth[axis]));
            }
        }
    }

    alignSensors(accSmooth, accSmooth, accAlign);

    if (!isAccelerationCalibrationComplete()) {
        performAcclerationCalibration(rollAndPitchTrims);
    }

    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
        performInflightAccelerationCalibration(rollAndPitchTrims);
    }

    applyAccelerationTrims(accelerationTrims);
}

开发者ID:zdar，项目名称:betaflight，代码行数:42，代码来源:acceleration.c

示例7: sensorsAutodetect

bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
{
    int16_t deg, min;
    memset(&acc, sizeof(acc), 0);
    memset(&gyro, sizeof(gyro), 0);

    if (!detectGyro(gyroLpf)) {
        return false;
    }
    detectAcc(accHardwareToUse);
    detectBaro();

    reconfigureAlignment(sensorAlignmentConfig);

    // Now time to init things, acc first
    if (sensors(SENSOR_ACC))
        acc.init();
    // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
    gyro.init();

#ifdef MAG
    if (hmc5883lDetect()) {
        magAlign = CW180_DEG; // default NAZE alignment
    } else {
        sensorsClear(SENSOR_MAG);
    }
#endif

    // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
    if (sensors(SENSOR_MAG)) {
        // calculate magnetic declination
        deg = magDeclinationFromConfig / 100;
        min = magDeclinationFromConfig % 100;

        magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
    } else {
        magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
    }

    return true;
}

开发者ID:airmamaf，项目名称:cleanflight，代码行数:41，代码来源:initialisation.c

示例8: detectAcc

static void detectAcc(accelerationSensor_e accHardwareToUse)
{
    accelerationSensor_e accHardware;

    #ifdef USE_ACC_ADXL345
    drv_adxl345_config_t acc_params;
#endif

retry:
    accAlign = ALIGN_DEFAULT;

    switch (accHardwareToUse) {
        case ACC_DEFAULT:
            ; // fallthrough
        case ACC_ADXL345: // ADXL345
#ifdef USE_ACC_ADXL345
            acc_params.useFifo = false;
            acc_params.dataRate = 800; // unused currently
#ifdef NAZE
            if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, &acc)) {
#else
            if (adxl345Detect(&acc_params, &acc)) {
#endif
#ifdef ACC_ADXL345_ALIGN
                accAlign = ACC_ADXL345_ALIGN;
#endif
                accHardware = ACC_ADXL345;
                break;
            }
#endif
            ; // fallthrough
        case ACC_LSM303DLHC:
#ifdef USE_ACC_LSM303DLHC
            if (lsm303dlhcAccDetect(&acc)) {
#ifdef ACC_LSM303DLHC_ALIGN
                accAlign = ACC_LSM303DLHC_ALIGN;
#endif
                accHardware = ACC_LSM303DLHC;
                break;
            }
#endif
            ; // fallthrough
        case ACC_MPU6050: // MPU6050
#ifdef USE_ACC_MPU6050
            if (mpu6050AccDetect(selectMPU6050Config(), &acc)) {
#ifdef ACC_MPU6050_ALIGN
                accAlign = ACC_MPU6050_ALIGN;
#endif
                accHardware = ACC_MPU6050;
                break;
            }
#endif
            ; // fallthrough
        case ACC_MMA8452: // MMA8452
#ifdef USE_ACC_MMA8452
#ifdef NAZE
            // Not supported with this frequency
            if (hardwareRevision < NAZE32_REV5 && mma8452Detect(&acc)) {
#else
            if (mma8452Detect(&acc)) {
#endif
#ifdef ACC_MMA8452_ALIGN
                accAlign = ACC_MMA8452_ALIGN;
#endif
                accHardware = ACC_MMA8452;
                break;
            }
#endif
            ; // fallthrough
        case ACC_BMA280: // BMA280
#ifdef USE_ACC_BMA280
            if (bma280Detect(&acc)) {
#ifdef ACC_BMA280_ALIGN
                accAlign = ACC_BMA280_ALIGN;
#endif
                accHardware = ACC_BMA280;
                break;
            }
#endif
            ; // fallthrough
        case ACC_SPI_MPU6000:
#ifdef USE_ACC_SPI_MPU6000
            if (mpu6000SpiAccDetect(&acc)) {
#ifdef ACC_SPI_MPU6000_ALIGN
                accAlign = ACC_SPI_MPU6000_ALIGN;
#endif
                accHardware = ACC_SPI_MPU6000;
                break;
            }
#endif
            ; // fallthrough
        case ACC_SPI_MPU6500:
#ifdef USE_ACC_SPI_MPU6500
#ifdef NAZE
            if (hardwareRevision == NAZE32_SP && mpu6500SpiAccDetect(&acc)) {
#else
            if (mpu6500SpiAccDetect(&acc)) {
#endif
#ifdef ACC_SPI_MPU6500_ALIGN
                accAlign = ACC_SPI_MPU6500_ALIGN;
//.........这里部分代码省略.........

开发者ID:MythicMadTesla，项目名称:cleanflight，代码行数:101，代码来源:initialisation.c

注：本文中的acc_t类示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。