/**
* Calibrate the sensors
**/
func calibrate(gyroscope *sensors.L3GD20, accelerometer *sensors.LSM303ACCEL) (err error) {
const (
ITERATIONS int = 100
)
var (
t time.Duration
n int
)
fmt.Printf("Calibrating...\n")
t = time.Millisecond * 100
for n = 0; n < ITERATIONS; n++ {
gyroscope.Measure()
accelerometer.Measure()
time.Sleep(t)
}
err = gyroscope.ComputeBias()
if err == nil {
err = accelerometer.ComputeBias()
}
return
}
