Peripherals/Inc/peripherals_imu_icm.hpp

@@ -214,7 +214,7 @@ public:
 
   float accelerometerRawToReading(const std::int16_t bit) const
   {
-    return (float(bit) * accel_fs_to_bit_constants_[std::uint32_t(scale_accel_)]) * 9.8f;
+    return float(bit) * accel_fs_to_bit_constants_[std::uint32_t(scale_accel_)];
   }
 
   float gyroRawToReading(const std::int16_t bit) const

Peripherals/Inc/peripherals_ir_sensors.hpp

@@ -17,15 +17,6 @@
 namespace Peripherals
 {
 
-struct IrSensorsReading
-{
-  /// Distance as read by the sensor.
-  float distance;
-
-  /// @c true if the @c distance is < the wall threshold.
-  bool sees_object;
-};
-
 template<typename G, std::size_t N, std::size_t Average>
 class IrSensors
 {
@@ -70,16 +61,16 @@ public:
     }
   }
 
-  std::array<IrSensorsReading, N> getDistanceData()
+  std::array<std::pair<float, bool>, N> getDistanceData()
   {
-    std::array<IrSensorsReading, N> data;
+    std::array<std::pair<float, bool>, N> data;
 
     for (std::size_t i = 0; i < N; i++)
     {
       const float interim = averages_[i] - offsets_[i];
 
-      data[i].distance = multipliers_[i] * std::pow(interim, exponents_[i]);
+      data[i].first = multipliers_[i] * std::pow(interim, exponents_[i]);
-      data[i].sees_object = data[i].distance < wall_thresholds_[i];
+      data[i].second = data[i].first < wall_thresholds_[i];
     }
 
     return data;

Threads/Inc/threads_actor.hpp

@@ -8,10 +8,7 @@
 #ifndef SKULLC_THREADS_ACTOR_HPP_
 #define SKULLC_THREADS_ACTOR_HPP_
 
-#include <cmsis_os.h>
-#include <freertos_os2.h>
 #include <queue.h>
-
 #include <type_traits>
 
 #include "threads_primitivethread.hpp"
@@ -26,7 +23,7 @@ class Actor
 public:
   using value_type = T;
 
-  static_assert(std::is_default_constructible_v<value_type>, "T must be default constructible.");
+  static_assert(std::is_trivially_constructible_v<value_type>, "T must be trivially constructible.");
   static_assert(std::is_trivially_copyable_v<value_type>, "T must be trivially copyable.");
 
   Actor(const std::uint32_t queue_size, const char* name, const osPriority_t priority, const std::uint32_t stack_size)
@@ -57,7 +54,7 @@ private:
   {
     init();
 
-    value_type data{};
+    value_type data;
 
     while (true)
     {

Threads/Inc/threads_signal.hpp

@@ -20,8 +20,7 @@ struct Signallable
 {
   using value_type = T;
 
-  static_assert(std::is_trivially_copyable_v<value_type>, "T must be trivially copyable.");
+  static_assert(std::is_trivially_constructible_v<value_type>, "T must be trivially constructible.");
-  static_assert(std::is_default_constructible_v<value_type>, "T must be default constructible.");
 
   virtual bool emit(const T& t) = 0;
   virtual std::pair<bool, BaseType_t> emitFromIsr(const T& t) = 0;