diff options
| author | HampusM <hampus@hampusmat.com> | 2022-03-07 09:24:37 +0100 |
|---|---|---|
| committer | HampusM <hampus@hampusmat.com> | 2022-03-07 09:26:17 +0100 |
| commit | 4b4605df15ce7061a08d7911069927bf49778d05 (patch) | |
| tree | 5f853e2d7508e073bd12175a7d18ab9e6bf2ea82 /src/sensor/calibration.cpp | |
| parent | faa501905e2fb554a2444b5e396d9e979ce0be0e (diff) | |
fix: prevent invalid UniquePtr usage
Diffstat (limited to 'src/sensor/calibration.cpp')
| -rw-r--r-- | src/sensor/calibration.cpp | 28 |
1 files changed, 14 insertions, 14 deletions
diff --git a/src/sensor/calibration.cpp b/src/sensor/calibration.cpp index 1538baa..42f5010 100644 --- a/src/sensor/calibration.cpp +++ b/src/sensor/calibration.cpp @@ -3,7 +3,7 @@ #include "std/time.hpp" #include "utils.hpp" -SensorCalibrator::SensorCalibrator(UniquePtr<Sensor> sensor, SerialStream sout) +SensorCalibrator::SensorCalibrator(Sensor sensor, SerialStream sout) : _sensor(sensor), _sout(sout) { } @@ -51,26 +51,26 @@ bool SensorCalibrator::calibrate(unsigned int throttle_time) void SensorCalibrator::_updateValues(SensorCalibratorValues &values) { - _sensor->read(); + _sensor.read(); - values.accel_x -= _sensor->getAccelX(); - values.accel_y -= _sensor->getAccelY(); - values.accel_z -= _sensor->getAccelZ(); + values.accel_x -= _sensor.getAccelX(); + values.accel_y -= _sensor.getAccelY(); + values.accel_z -= _sensor.getAccelZ(); - values.gyro_x -= _sensor->getGyroX(); - values.gyro_y -= _sensor->getGyroY(); - values.gyro_z -= _sensor->getGyroZ(); + values.gyro_x -= _sensor.getGyroX(); + values.gyro_y -= _sensor.getGyroY(); + values.gyro_z -= _sensor.getGyroZ(); } void SensorCalibrator::_adjustCalibrationWithValues(const SensorCalibratorValues &values) { - _sensor->accel_cal_x += values.accel_x; - _sensor->accel_cal_y += values.accel_y; - _sensor->accel_cal_z += values.accel_z; + _sensor.accel_cal_x += values.accel_x; + _sensor.accel_cal_y += values.accel_y; + _sensor.accel_cal_z += values.accel_z; - _sensor->gyro_cal_x += values.gyro_x; - _sensor->gyro_cal_y += values.gyro_y; - _sensor->gyro_cal_z += values.gyro_z; + _sensor.gyro_cal_x += values.gyro_x; + _sensor.gyro_cal_y += values.gyro_y; + _sensor.gyro_cal_z += values.gyro_z; } void SensorCalibrator::_adjustValues(SensorCalibratorValues &values) |