Adis16477 driver standardization work #11629
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Mar 12, 2019
| @@ -71,17 +81,11 @@ static constexpr uint16_t PROD_ID_ADIS16477 = 0x405D; /* ADIS16477 Identificatio | |||
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| static constexpr int T_STALL = 16; | |||
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| #define GYROINITIALSENSITIVITY 250 | |||
| #define ACCELINITIALSENSITIVITY (1.0f / 1200.0f) | |||
| #define ACCELDYNAMICRANGE 18.0f | |||
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These values are unused at present. The modified values in this PR are taken from the datasheet. The difference in values has no functional impact, and the datasheet values are being put in place here to prevent any future issues.
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…y and alphabetize #includes. Group/alphabetize some methods and vars, in ADIS16477.hpp, move var initialization to declarations, and format whitespace.
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Closing in favor of #12140. |
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Describe problem solved by the proposed pull request
The ADIS16477 driver lacks standardization with the other Analog Devices IMU drivers.
This PR, (and future subsequent PR's), begins aligning the AD imu drivers so that more general imu driver work can proceed in the future.
Describe your preferred solution
This PR and a series of subsequent PR will align the ADIS16477 class with the ADIS16448 and ADIS16497 classes. To align all classes, a lot of copy/paste and formatting is going to take place, please be patient with this process as it will take a number of PRs to keep the review work managable.
Describe possible alternatives
Maintaining the status quo in the IMU drivers is always an option, (albeit a painful one).
Test data / coverage
NOTE: This PR requires hardware validation. (I do not have access to hardware to test this PR against.)
Additional context
See related work in PR #11224.
Please let me know if you have questions on this PR.
-Mark
@dagar