Revision 510d0f10 Adafruit_BNO055.cpp
| Adafruit_BNO055.cpp | ||
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| 687 | 687 |
bool Adafruit_BNO055::isFullyCalibrated() {
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uint8_t system, gyro, accel, mag; |
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getCalibration(&system, &gyro, &accel, &mag); |
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if (system < 3 || gyro < 3 || accel < 3 || mag < 3) |
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return false; |
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return true; |
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|
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switch (_mode) {
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case OPERATION_MODE_ACCONLY: |
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return (accel == 3); |
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case OPERATION_MODE_MAGONLY: |
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return (mag == 3); |
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case OPERATION_MODE_GYRONLY: |
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case OPERATION_MODE_M4G: /* No magnetometer calibration required. */ |
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return (gyro == 3); |
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case OPERATION_MODE_ACCMAG: |
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case OPERATION_MODE_COMPASS: |
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return (accel == 3 && mag == 3); |
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case OPERATION_MODE_ACCGYRO: |
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case OPERATION_MODE_IMUPLUS: |
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return (accel == 3 && gyro == 3); |
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case OPERATION_MODE_MAGGYRO: |
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return (mag == 3 && gyro == 3); |
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default: |
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return (system == 3 && gyro == 3 && accel == 3 && mag == 3); |
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} |
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} |
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/*! |
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