fix uninitialized calibration values and temperature coefficients cau…

…sing all sort of issues on ESP32C3
SlimeVR · Jul 26, 2023 · ced549d · ced549d
1 parent ed74944
commit ced549d
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Showing 6 changed files with 7 additions and 11 deletions.
diff --git a/src/configuration/Configuration.cpp b/src/configuration/Configuration.cpp
@@ -32,8 +32,6 @@
 
 namespace SlimeVR {
     namespace Configuration {
-        CalibrationConfig Configuration::m_EmptyCalibration = {NONE};
-
         void Configuration::setup() {
             if (m_Loaded) {
                 return;
@@ -140,7 +138,7 @@ namespace SlimeVR {
 
         CalibrationConfig Configuration::getCalibration(size_t sensorID) const {
             if (sensorID >= m_Calibrations.size()) {
-                return m_EmptyCalibration;
+                return {};
             }
 
             return m_Calibrations.at(sensorID);
@@ -150,7 +148,7 @@ namespace SlimeVR {
             size_t currentCalibrations = m_Calibrations.size();
 
             if (sensorID >= currentCalibrations) {
-                m_Calibrations.resize(sensorID + 1, m_EmptyCalibration);
+                m_Calibrations.resize(sensorID + 1);
             }
 
             m_Calibrations[sensorID] = config;

diff --git a/src/configuration/Configuration.h b/src/configuration/Configuration.h
@@ -60,8 +60,6 @@ namespace SlimeVR {
             std::vector<CalibrationConfig> m_Calibrations;
 
             Logging::Logger m_Logger = Logging::Logger("Configuration");
-
-            static CalibrationConfig m_EmptyCalibration;
         };
     }
 }

diff --git a/src/sensors/bmi160sensor.h b/src/sensors/bmi160sensor.h
@@ -268,13 +268,13 @@ class BMI160Sensor : public Sensor {
         double gscaleY = BMI160_GSCALE;
         double gscaleZ = BMI160_GSCALE;
 
-        double GOxyzStaticTempCompensated[3];
+        double GOxyzStaticTempCompensated[3] = {0.0, 0.0, 0.0};
 
         bool isGyroCalibrated = false;
         bool isAccelCalibrated = false;
         bool isMagCalibrated = false;
 
-        SlimeVR::Configuration::BMI160CalibrationConfig m_Calibration;
+        SlimeVR::Configuration::BMI160CalibrationConfig m_Calibration = {};
 };
 
 #endif
diff --git a/src/sensors/icm20948sensor.h b/src/sensors/icm20948sensor.h
@@ -55,7 +55,7 @@ class ICM20948Sensor : public Sensor
     icm_20948_DMP_data_t dmpData{};
     icm_20948_DMP_data_t dmpDataTemp{};
 
-    SlimeVR::Configuration::ICM20948CalibrationConfig m_Calibration;
+    SlimeVR::Configuration::ICM20948CalibrationConfig m_Calibration = {};
 
     void saveCalibration(bool repeat);
     void loadCalibration();

diff --git a/src/sensors/mpu6050sensor.h b/src/sensors/mpu6050sensor.h
@@ -49,7 +49,7 @@ class MPU6050Sensor : public Sensor
     uint8_t fifoBuffer[64]{}; // FIFO storage buffer
 
 #ifndef IMU_MPU6050_RUNTIME_CALIBRATION
-    SlimeVR::Configuration::MPU6050CalibrationConfig m_Calibration;
+    SlimeVR::Configuration::MPU6050CalibrationConfig m_Calibration = {};
 #endif
 };
 

diff --git a/src/sensors/mpu9250sensor.h b/src/sensors/mpu9250sensor.h
@@ -56,7 +56,7 @@ class MPU9250Sensor : public Sensor
     // Loop timing globals
     float deltat = 0;                // sample time in seconds
 
-    SlimeVR::Configuration::MPU9250CalibrationConfig m_Calibration;
+    SlimeVR::Configuration::MPU9250CalibrationConfig m_Calibration = {};
 
     // outputs to respective member variables
     void parseAccelData(int16_t data[3]);
-Original file line number
+Diff line change
@@ Expand Up / @@ -60,8 +60,6 @@ namespace SlimeVR { @@
                 std::vector<CalibrationConfig> m_Calibrations;
                 Logging::Logger m_Logger = Logging::Logger("Configuration");
-                static CalibrationConfig m_EmptyCalibration;
             };
         }
     }
@@ Expand Down @@