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Code Issues Wiki Activity

Remove unused IMU parameters

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This commit is contained in:
Bruce Luckcuck 2018-09-24 15:50:05 -04:00
parent 649eaea291
commit 0074f05573
3 changed files with 1 additions and 16 deletions
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5
src/main/flight/imu.c
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@ -111,14 +111,12 @@ quaternion offset = QUATERNION_INITIALIZE;
// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
attitudeEulerAngles_t attitude = EULER_INITIALIZE;
PG_REGISTER_WITH_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);
PG_REGISTER_WITH_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_IMU_CONFIG, 1);
PG_RESET_TEMPLATE(imuConfig_t, imuConfig,
.dcm_kp = 2500, // 1.0 * 10000
.dcm_ki = 0, // 0.003 * 10000
.small_angle = 25,
.accDeadband = {.xy = 40, .z= 40},
.acc_unarmedcal = 1
);
STATIC_UNIT_TESTED void imuComputeRotationMatrix(void){
@ -159,7 +157,6 @@ void imuConfigure(uint16_t throttle_correction_angle, uint8_t throttle_correctio
{
imuRuntimeConfig.dcm_kp = imuConfig()->dcm_kp / 10000.0f;
imuRuntimeConfig.dcm_ki = imuConfig()->dcm_ki / 10000.0f;
imuRuntimeConfig.acc_unarmedcal = imuConfig()->acc_unarmedcal;
imuRuntimeConfig.small_angle = imuConfig()->small_angle;
fc_acc = calculateAccZLowPassFilterRCTimeConstant(5.0f); // Set to fix value