C++ (Cpp) sensorTrims Examples

Example #1

File: config.c Project: LupinIII/cleanflight

static void activateConfig(void)
{
    activateControlRateConfig();

    resetAdjustmentStates();

    useRcControlsConfig(modeActivationProfile()->modeActivationConditions);

    pidInitFilters(pidProfile());

#ifdef GPS
    gpsUsePIDs(pidProfile());
#endif

    useFailsafeConfig();
    setAccelerationTrims(&sensorTrims()->accZero);
    accelerationFilterInit(accelerometerConfig()->acc_cut_hz);

#ifdef USE_SERVOS
    mixerUseConfigs(servoProfile()->servoConf);
#endif

#ifdef GPS
    recalculateMagneticDeclination();
#endif

#ifdef VTX
    initVTXState();
#endif

    static imuRuntimeConfig_t imuRuntimeConfig;
    imuRuntimeConfig.dcm_kp = imuConfig()->dcm_kp / 10000.0f;
    imuRuntimeConfig.dcm_ki = imuConfig()->dcm_ki / 10000.0f;
    imuRuntimeConfig.acc_cut_hz = accelerometerConfig()->acc_cut_hz;
    imuRuntimeConfig.acc_unarmedcal = accelerometerConfig()->acc_unarmedcal;
    imuRuntimeConfig.small_angle = imuConfig()->small_angle;

    imuConfigure(
        &imuRuntimeConfig,
        &accelerometerConfig()->accDeadband,
        accelerometerConfig()->accz_lpf_cutoff,
        throttleCorrectionConfig()->throttle_correction_angle
    );
}

Example #2

File: mw.c Project: JoachimF/cleanflight

void taskUpdateCompass(void)
{
    if (sensors(SENSOR_MAG)) {
        updateCompass(&sensorTrims()->magZero);
    }
}