Add accelerometer zeroing values to DrivetrainStatus
Change-Id: I3afc23120a7e8eed509e9f8e1ffd483388c4f3c9
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/control_loops/drivetrain/drivetrain_status.fbs b/frc971/control_loops/drivetrain/drivetrain_status.fbs
index fe691ed..fd3ff0e 100644
--- a/frc971/control_loops/drivetrain/drivetrain_status.fbs
+++ b/frc971/control_loops/drivetrain/drivetrain_status.fbs
@@ -190,10 +190,15 @@
// in the zeroing.
number_of_zeroes:int (id: 2);
- // Current zeroing values beind used for each gyro axis, in rad / sec.
+ // Current zeroing values being used for each gyro axis, in rad / sec.
gyro_x_average:float (id: 3);
gyro_y_average:float (id: 4);
gyro_z_average:float (id: 5);
+
+ // Current zeroing values being used for each accelerometer axis, in m / s^2.
+ accel_x_average:float (id: 6);
+ accel_y_average:float (id: 7);
+ accel_z_average:float (id: 8);
}
table Status {
diff --git a/frc971/zeroing/imu_zeroer.cc b/frc971/zeroing/imu_zeroer.cc
index 70c5a42..a9b1045 100644
--- a/frc971/zeroing/imu_zeroer.cc
+++ b/frc971/zeroing/imu_zeroer.cc
@@ -111,6 +111,10 @@
builder.add_gyro_y_average(GyroOffset().y());
builder.add_gyro_z_average(GyroOffset().z());
+ builder.add_accel_x_average(accel_average_.x());
+ builder.add_accel_y_average(accel_average_.y());
+ builder.add_accel_z_average(accel_average_.z());
+
return builder.Finish();
}