1 files changed, 16 insertions, 13 deletions
diff --git a/src/sensor/calibration.hpp b/src/sensor/calibration.hpp
index a808fe9..a2da58b 100644
--- a/src/sensor/calibration.hpp
+++ b/src/sensor/calibration.hpp
@@ -28,6 +28,18 @@ constexpr uint32_t CALIBRATION_TIMEOUT = 120000; // Milliseconds
 constexpr unsigned int SENSOR_READ_CNT = 20;
 constexpr float SENSOR_VAL_ADJUST = 0.05;
 
+class SensorCalibratorValues
+{
+public:
+	double accel_x = 0;
+	double accel_y = 0;
+	double accel_z = 0;
+
+	double gyro_x = 0;
+	double gyro_y = 0;
+	double gyro_z = 0;
+};
+
 /**
  * Sensor calibrator.
  */
@@ -52,22 +64,13 @@ public:
 	bool calibrate(unsigned int throttle_time);
 
 private:
-	void _resetValues();
-	void _updateValues();
-	void _adjustValues();
-	bool _isValuesInRange() const;
+	void _updateValues(SensorCalibratorValues &values);
+	void _adjustCalibrationWithValues(const SensorCalibratorValues &values);
 
-	void _adjustCalibration();
+	static void _adjustValues(SensorCalibratorValues &values);
+	static bool _isValuesInRange(const SensorCalibratorValues &values);
 
 	UniquePtr<Sensor> _sensor;
 
 	SerialStream _sout;
-
-	double _accel_x = 0;
-	double _accel_y = 0;
-	double _accel_z = 0;
-
-	double _gyro_x = 0;
-	double _gyro_y = 0;
-	double _gyro_z = 0;
 };