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More sensible LED status, delays

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Nik Rozman
2026-03-01 19:28:56 +01:00
parent 98d4558e97
commit ef97d8f32a
1 changed files with 2 additions and 2 deletions
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source/imu.cpp
+2 -2
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@@ -27,7 +27,7 @@ void calibrateGyroBias() {
double sx=0, sy=0, sz=0; double sx=0, sy=0, sz=0;
for (int i=0; i<BIAS_SAMPLES; i++) { for (int i=0; i<BIAS_SAMPLES; i++) {
sx += imu.readFloatGyroX(); sy += imu.readFloatGyroY(); sz += imu.readFloatGyroZ(); sx += imu.readFloatGyroX(); sy += imu.readFloatGyroY(); sz += imu.readFloatGyroZ();
digitalWrite(LED_BLUE, (i%20 < 10)); delay(5); digitalWrite(LED_GREEN, (i%20 < 10)); delay(5); // green flutter during calibration
} }
biasGX = (float)(sx/BIAS_SAMPLES); biasGX = (float)(sx/BIAS_SAMPLES);
biasGY = (float)(sy/BIAS_SAMPLES); biasGY = (float)(sy/BIAS_SAMPLES);
@@ -41,7 +41,7 @@ void calibrateGyroBias() {
statBiasRms = sqrtf((bxr*bxr + byr*byr + bzr*bzr) / 3.0f); statBiasRms = sqrtf((bxr*bxr + byr*byr + bzr*bzr) / 3.0f);
#endif #endif
digitalWrite(LED_BLUE, HIGH); digitalWrite(LED_GREEN, HIGH); // off after calibration
Serial.print("[CAL] T="); Serial.print(calTempC,1); Serial.print("[CAL] T="); Serial.print(calTempC,1);
Serial.print("C bias="); Serial.print(biasGX,4); Serial.print("C bias="); Serial.print(biasGX,4);
Serial.print(","); Serial.print(biasGY,4); Serial.print(","); Serial.print(biasGY,4);