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Fix incorrect SensorFusion argument in CalibrationBase #514

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Fix incorrect SensorFusion argument in CalibrationBase #514

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4 changes: 3 additions & 1 deletion src/sensors/softfusion/CalibrationBase.h
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,8 @@ class CalibrationBase {

virtual void scaleGyroSample(sensor_real_t gyroSample[3]) = 0;
virtual float getGyroTimestep() = 0;

virtual float getMagTimestep() = 0;

virtual float getTempTimestep() = 0;

Expand All @@ -100,7 +102,7 @@ class CalibrationBase {
IMU::SensorVQFParams,
getGyroTimestep(),
getAccelTimestep(),
getTempTimestep()
getMagTimestep()
);
}

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2 changes: 2 additions & 0 deletions src/sensors/softfusion/SoftfusionCalibration.h
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Expand Up @@ -231,6 +231,8 @@ class SoftfusionCalibrator : public CalibrationBase<IMU> {
}

float getGyroTimestep() final { return calibration.G_Ts; }

float getMagTimestep() final { return calibration.M_Ts; }

float getTempTimestep() final { return calibration.T_Ts; }

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2 changes: 2 additions & 0 deletions src/sensors/softfusion/runtimecalibration/RuntimeCalibration.h
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Expand Up @@ -179,6 +179,8 @@ class RuntimeCalibrator : public Sensors::CalibrationBase<IMU> {
}

float getGyroTimestep() final { return activeCalibration.G_Ts; }

float getMagTimestep() final { return activeCalibration.M_Ts; }

float getTempTimestep() final { return activeCalibration.T_Ts; }

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