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Code refactoring

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This commit is contained in:
Goga Coder
2024-01-27 21:35:57 +07:00
parent 2aa9648dd4
commit fa0a664e43
14 changed files with 57 additions and 40 deletions
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13
Sensors/Sensors.cpp
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@@ -1,6 +1,10 @@
// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#include "Sensors.hpp"
Sensors::Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter, BatteryController *battery, bool loop_on_fail) {
Sensors::Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter,
BatteryController *battery, volatile bool loop_on_fail) {
assert(barometer != nullptr);
assert(mpu != nullptr);
assert(filter != nullptr);
@@ -56,7 +60,7 @@ float Sensors::rawFlightHeight(void) const {
float Sensors::flightHeight(void) const {
/* Returns flight height from cache immediatly */
if (_flightHeightFromBarometer == NAN) {
if (_flightHeightFromBarometer == 0.f) {
ESP_LOGW(_tag, "flightHeight called, but tick() has called never");
return rawFlightHeight();
} else {
@@ -65,7 +69,7 @@ float Sensors::flightHeight(void) const {
}
MpuData Sensors::mpuData() const {
if (_mpuData.ax == NAN and _mpuData.gravity == NAN) {
if (_mpuData.ax == 0.f and _mpuData.gravity == 0.f) {
ESP_LOGW(_tag, "MPU data looks like .tick() has never called");
}
return _mpuData;
@@ -78,7 +82,8 @@ bool Sensors::tick(void) {
bool err;
bool isMpuDataReady = _mpu->tick(err);
if (isMpuDataReady and !err) {
_2d_filter->filter(_mpu->accZInertial(), _barometer->flightHeight(), _flightHeightFromBarometer, _zVelocityAltitude);
_2d_filter->filter(_mpu->accZInertial(), _barometer->flightHeight(),
_flightHeightFromBarometer, _zVelocityAltitude);
_mpuData = { .ax = _mpu->ax(),
.ay = _mpu->ay(),
.az = _mpu->az(),