gyro sensors/debug: record standard deviation for roll *only*

* visibile in the DEBUG_GYRO_RAW[3]
betaflight · Jun 9, 2018 · 03b480a · 03b480a
1 parent f8ebdf0
commit 03b480a
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
@@ -864,8 +864,11 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
 
         if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
             const float stddev = devStandardDeviation(&gyroSensor->calibration.var[axis]);
-            // DEBUG_GYRO_CALIBRATION records per-axis standard deviation
-            DEBUG_SET(DEBUG_GYRO_CALIBRATION, axis, lrintf(stddev));
+            // DEBUG_GYRO_CALIBRATION records the standard deviation of roll
+            // into the spare field - debug[3], in DEBUG_GYRO_RAW
+            if (axis == X) {
+                DEBUG_SET(DEBUG_GYRO_RAW, DEBUG_GYRO_CALIBRATION, lrintf(stddev));
+            }
 
             // check deviation and startover in case the model was moved
             if (gyroMovementCalibrationThreshold && stddev > gyroMovementCalibrationThreshold) {