diff options
Diffstat (limited to 'firmware/os/algos/calibration/online_calibration/gyroscope/gyro_offset_over_temp_cal/gyro_offset_over_temp_cal.h')
-rw-r--r-- | firmware/os/algos/calibration/online_calibration/gyroscope/gyro_offset_over_temp_cal/gyro_offset_over_temp_cal.h | 14 |
1 files changed, 14 insertions, 0 deletions
diff --git a/firmware/os/algos/calibration/online_calibration/gyroscope/gyro_offset_over_temp_cal/gyro_offset_over_temp_cal.h b/firmware/os/algos/calibration/online_calibration/gyroscope/gyro_offset_over_temp_cal/gyro_offset_over_temp_cal.h index 9b8962a9..5142a151 100644 --- a/firmware/os/algos/calibration/online_calibration/gyroscope/gyro_offset_over_temp_cal/gyro_offset_over_temp_cal.h +++ b/firmware/os/algos/calibration/online_calibration/gyroscope/gyro_offset_over_temp_cal/gyro_offset_over_temp_cal.h @@ -69,6 +69,12 @@ class GyroOffsetOtcCal final bool SetInitialCalibration( const CalibrationDataThreeAxis& input_cal_data) final; + // Indicates which values are modified by this calibration algorithm. + CalibrationTypeFlags which_calibration_flags() const final { + return CalibrationTypeFlags::BIAS | CalibrationTypeFlags::OVER_TEMP | + CalibrationTypeFlags::OTC_STILL_BIAS; + } + // Returns the calibration sensor type. SensorType get_sensor_type() const final { return SensorType::kGyroscopeRps; @@ -78,12 +84,20 @@ class GyroOffsetOtcCal final const GyroCal& get_gyro_cal() const { return gyro_cal_; } const OverTempCal& get_over_temp_cal() const { return over_temp_cal_; } + // Optional function used by calibration algorithms to maintain awareness of + // of sensor enable states. + void UpdateSensorEnableState(SensorType sensor_type, uint8_t sensor_index, + bool is_enabled) final; + private: // GyroCal algorithm data structure. GyroCal gyro_cal_; // Over-temperature offset compensation algorithm data structure. OverTempCal over_temp_cal_; + + // Tracks the gyro sensor enable state. + bool gyro_is_enabled_; }; } // namespace online_calibration |