commit fddd137bd7e9066b37731119984dfbb466aa045a
author Lee Mracek <lee@valkyrierobotics.com> Sat Oct 22 15:58:31 2022 -0400
committer Austin Schuh <austin.linux@gmail.com> Fri Nov 04 20:06:59 2022 -0700
tree 722df49a95229df703850653c935b49f6e6496fe
parent 28c9e39707d79fe1ae8ff78c259a9ae0305d1e7f

Remove unused accel_average_

Change-Id: Ic0918ac4d7f0f085fcac5a838981a4d91a92b866
Signed-off-by: Lee Mracek <lee@valkyrierobotics.com>

frc971/zeroing/imu_zeroer.cc

diff --git a/frc971/zeroing/imu_zeroer.cc b/frc971/zeroing/imu_zeroer.cc
index 6bc2d0e..0872b1c 100644
--- a/frc971/zeroing/imu_zeroer.cc
+++ b/frc971/zeroing/imu_zeroer.cc
@@ -28,7 +28,6 @@
 ImuZeroer::ImuZeroer(FaultBehavior fault_behavior)
     : fault_behavior_(fault_behavior) {
   gyro_average_.setZero();
-  accel_average_.setZero();
   last_gyro_sample_.setZero();
   last_accel_sample_.setZero();
 }
@@ -47,8 +46,7 @@
 
 std::optional<Eigen::Vector3d> ImuZeroer::ZeroedAccel() const {
   return Faulted() ? std::nullopt
-                   : std::make_optional<Eigen::Vector3d>(last_accel_sample_ -
-                                                         accel_average_);
+                   : std::make_optional<Eigen::Vector3d>(last_accel_sample_);
 }
 
 Eigen::Vector3d ImuZeroer::GyroOffset() const { return gyro_average_; }
@@ -129,9 +127,9 @@
   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());
+  builder.add_accel_x_average(accel_averager_.GetAverage()[0]);
+  builder.add_accel_y_average(accel_averager_.GetAverage()[1]);
+  builder.add_accel_z_average(accel_averager_.GetAverage()[2]);
 
   return builder.Finish();
 }

frc971/zeroing/imu_zeroer.h

diff --git a/frc971/zeroing/imu_zeroer.h b/frc971/zeroing/imu_zeroer.h
index f9ae4d2..7fad58c 100644
--- a/frc971/zeroing/imu_zeroer.h
+++ b/frc971/zeroing/imu_zeroer.h
@@ -70,7 +70,6 @@
   Averager<double, kSamplesToAverage, 3> accel_averager_;
   // The average zero position of the gyro.
   Eigen::Vector3d gyro_average_;
-  Eigen::Vector3d accel_average_;
   Eigen::Vector3d last_gyro_sample_;
   Eigen::Vector3d last_accel_sample_;