cleanup

PX4 · Jun 4, 2024 · 2c83ceb · 2c83ceb
1 parent ab4067d
commit 2c83ceb
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Showing 2 changed files with 4 additions and 13 deletions.
diff --git a/src/drivers/imu/murata/sch16t/Murata_SCH16T_registers.hpp b/src/drivers/imu/murata/sch16t/Murata_SCH16T_registers.hpp
@@ -64,12 +64,6 @@ static constexpr uint8_t DECIMATION_2950_HZ =	(0b010);
 static constexpr uint8_t DECIMATION_1475_HZ =	(0b011);
 static constexpr uint8_t DECIMATION_738_HZ =	(0b100);
 
-// TODO: remove the below
-// Range and decimation settings
-// static constexpr uint16_t RATE_300DPS_1475HZ = 0b0'001'001'011'011'011; // Gyro XYZ range 300 deg/s @ 1475Hz
-// static constexpr uint16_t ACC12_8G_1475HZ = 0b0'001'001'011'011'011;  // Acc XYZ range 8 G and 1475 update rate
-// static constexpr uint16_t ACC3_26G = (0b000 << 0);
-
 union CTRL_FILT_RATE_Register {
 	struct {
 		uint16_t FILT_SEL_RATE_X  : 3;
@@ -113,7 +107,6 @@ union RATE_CTRL_Register {
 		uint16_t reserved     : 1;
 	} bits;
 
-	// Allow direct access as a uint16_t
 	uint16_t value;
 };
 
@@ -127,7 +120,6 @@ union ACC12_CTRL_Register {
 		uint16_t reserved     : 1;
 	} bits;
 
-	// Allow direct access as a uint16_t
 	uint16_t value;
 };
 
@@ -137,7 +129,6 @@ union ACC3_CTRL_Register {
 		uint16_t reserved     : 13;
 	} bits;
 
-	// Allow direct access as a uint16_t
 	uint16_t value;
 };
 

diff --git a/src/drivers/imu/murata/sch16t/SCH16T.hpp b/src/drivers/imu/murata/sch16t/SCH16T.hpp
@@ -141,10 +141,10 @@ class SCH16T : public device::SPI, public I2CSPIDriver<SCH16T>, public ModulePar
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
 	perf_counter_t _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": CRC8 bad"))};
 	perf_counter_t _drdy_missed_perf{nullptr};
-	perf_counter_t _perf_general_error{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": General error"))};
-	perf_counter_t _perf_command_error{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": Command error"))};
-	perf_counter_t _perf_saturation_error{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": Saturation error"))};
-	perf_counter_t _perf_doing_initialization{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": Doing initialization"))};
+	perf_counter_t _perf_general_error{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": general error"))};
+	perf_counter_t _perf_command_error{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": command error"))};
+	perf_counter_t _perf_saturation_error{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": saturation error"))};
+	perf_counter_t _perf_doing_initialization{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": re-initializing"))};
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::SCH16T_GYRO_FILT>) _sch16t_gyro_filt,