bool service_app_create(void *data)
{
appdata *ad = data;
LOGE("Service launched");
if (!_check_remote_port(ad))
{
LOGE("Failed to found remote port!");
return false;
}
if (!_check_for_sensor(SENSOR_ACCELEROMETER) || !_check_for_sensor(SENSOR_GYROSCOPE))
{
LOGE("Sensors are not supported");
}
else
{
// init sensors
LOGE("Initialization of sensors");
if (!_init_sensor(SENSOR_ACCELEROMETER, &ad->accel, &ad->accel_listener) ||
!_init_sensor(SENSOR_GYROSCOPE, &ad->gyro, &ad->gyro_listener))
{
LOGE("Failed to init sensors");
}
else
{
LOGE("Sensor initialized!");
}
}
return true;
}
void
AP_InertialSensor::init( Start_style style,
Sample_rate sample_rate,
void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on),
AP_PeriodicProcess * scheduler,
FastSerial * serial)
{
_serial = serial;
_product_id = _init_sensor(scheduler, sample_rate);
// check scaling
Vector3f accel_scale = _accel_scale.get();
if( accel_scale.x == 0 && accel_scale.y == 0 && accel_scale.z == 0 ) {
accel_scale.x = accel_scale.y = accel_scale.z = 1.0;
_accel_scale.set(accel_scale);
}
if (WARM_START != style) {
if (_serial)
_serial->printf_P(PSTR("Init Cold start"));
// //TEO
// //per comodità inserisco calibrazione accel
// _init_accel(delay_cb, flash_leds_cb);
// do cold-start calibration for gyro only
_init_gyro(delay_cb, flash_leds_cb);
}
}
void
AP_InertialSensor::init( Start_style style,
Sample_rate sample_rate)
{
_product_id = _init_sensor(sample_rate);
// check scaling
Vector3f accel_scale = _accel_scale.get();
if( accel_scale.x == 0 && accel_scale.y == 0 && accel_scale.z == 0 ) {
accel_scale.x = accel_scale.y = accel_scale.z = 1.0;
_accel_scale.set(accel_scale);
}
if (WARM_START != style) {
// do cold-start calibration for gyro only
_init_gyro();
}
}
void
AP_InertialSensor::init( Start_style style,
Sample_rate sample_rate)
{
_product_id = _init_sensor(sample_rate);
// check scaling
for (uint8_t i=0; i<get_accel_count(); i++) {
if (_accel_scale[i].get().is_zero()) {
_accel_scale[i].set(Vector3f(1,1,1));
}
}
if (WARM_START != style) {
// do cold-start calibration for gyro only
_init_gyro();
}
}
void
AP_InertialSensor::init( Start_style style,
void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on),
AP_PeriodicProcess * scheduler )
{
_product_id = _init_sensor(scheduler);
// check scaling
Vector3f accel_scale = _accel_scale.get();
if( accel_scale.x == 0 && accel_scale.y == 0 && accel_scale.z == 0 ) {
accel_scale.x = accel_scale.y = accel_scale.z = 1.0;
_accel_scale.set(accel_scale);
}
if (WARM_START != style) {
// do cold-start calibration for gyro only
_init_gyro(delay_cb, flash_leds_cb);
}
}