本文整理汇总了C++中AP_InertialSensor::use_accel方法的典型用法代码示例。如果您正苦于以下问题：C++ AP_InertialSensor::use_accel方法的具体用法？C++ AP_InertialSensor::use_accel怎么用？C++ AP_InertialSensor::use_accel使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类AP_InertialSensor的用法示例。
在下文中一共展示了AP_InertialSensor::use_accel方法的1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，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: ins_accels_consistent
bool AP_Arming::ins_accels_consistent(const AP_InertialSensor &ins)
{
const uint8_t accel_count = ins.get_accel_count();
if (accel_count <= 1) {
return true;
}
const Vector3f &prime_accel_vec = ins.get_accel();
const uint32_t now = AP_HAL::millis();
for(uint8_t i=0; i<accel_count; i++) {
if (!ins.use_accel(i)) {
continue;
}
// get next accel vector
const Vector3f &accel_vec = ins.get_accel(i);
Vector3f vec_diff = accel_vec - prime_accel_vec;
// allow for user-defined difference, typically 0.75 m/s/s. Has to pass in last 10 seconds
float threshold = accel_error_threshold;
if (i >= 2) {
/*
we allow for a higher threshold for IMU3 as it
runs at a different temperature to IMU1/IMU2,
and is not used for accel data in the EKF
*/
threshold *= 3;
}
// EKF is less sensitive to Z-axis error
vec_diff.z *= 0.5f;
if (vec_diff.length() <= threshold) {
last_accel_pass_ms[i] = now;
}
if (now - last_accel_pass_ms[i] > 10000) {
return false;
}
}
return true;
}