accBiasFound to be renamed to accScaleFound

[AlexisTM]

Hi, the scale of the accelerometer has been (I think) misnamed to accBiasFound.

crazyflie-firmware/src/hal/src/sensors_bmi088_bmp388.c

Lines 572 to 590 in ebf447e

	static bool processAccScale(int16_t ax, int16_t ay, int16_t az)
	{
	static bool accBiasFound = false;
	static uint32_t accScaleSumCount = 0;
	if (!accBiasFound)
	{
	accScaleSum += sqrtf(powf(ax * SENSORS_BMI088_G_PER_LSB_CFG, 2) + powf(ay * SENSORS_BMI088_G_PER_LSB_CFG, 2) + powf(az * SENSORS_BMI088_G_PER_LSB_CFG, 2));
	accScaleSumCount++;
	if (accScaleSumCount == SENSORS_ACC_SCALE_SAMPLES)
	{
	accScale = accScaleSum / SENSORS_ACC_SCALE_SAMPLES;
	accBiasFound = true;
	}
	}
	return accBiasFound;
	}

I would rename accBiasFound to accScaleFound and initialize it after the gyro, next to the other accelerometer scale related variables.

crazyflie-firmware/src/hal/src/sensors_bmi088_bmp388.c

Lines 117 to 126 in ebf447e

	static Axis3i16 gyroRaw;
	static Axis3i16 accelRaw;
	static BiasObj gyroBiasRunning;
	static Axis3f gyroBias;
	#if defined(SENSORS_GYRO_BIAS_CALCULATE_STDDEV) && defined (GYRO_BIAS_LIGHT_WEIGHT)
	static Axis3f gyroBiasStdDev;
	#endif
	static bool gyroBiasFound = false;
	static float accScaleSum = 0;
	static float accScale = 1;

[krichardsson]

I agree, makes sense.

If you issue a pull request, please also update the (unfortunate) copy/paste/similar implementation in

crazyflie-firmware/src/hal/src/sensors_bmi088_spi_bmp388.c

Lines 863 to 881 in ebf447e

	static bool processAccScale(int16_t ax, int16_t ay, int16_t az)
	{
	static bool accBiasFound = false;
	static uint32_t accScaleSumCount = 0;
	if (!accBiasFound)
	{
	accScaleSum += sqrtf(powf(ax * SENSORS_BMI088_G_PER_LSB_CFG, 2) + powf(ay * SENSORS_BMI088_G_PER_LSB_CFG, 2) + powf(az * SENSORS_BMI088_G_PER_LSB_CFG, 2));
	accScaleSumCount++;
	if (accScaleSumCount == SENSORS_ACC_SCALE_SAMPLES)
	{
	accScale = accScaleSum / SENSORS_ACC_SCALE_SAMPLES;
	accBiasFound = true;
	}
	}
	return accBiasFound;
	}