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Code Issues Wiki Activity

Dterm scaling correction // Code cleanup

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borisbstyle 2015-09-19 23:37:41 +02:00
parent f5ad7f6003
commit 0539abc649
13 changed files with 34 additions and 84 deletions
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8
src/main/mw.c
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@ -773,7 +773,7 @@ void loop(void)
if (gyroSyncCheckUpdate() || (int32_t)(currentTime - (loopTime + GYRO_WATCHDOG_DELAY)) >= 0) {
loopTime = currentTime + targetLooptime;
imuUpdate(&currentProfile->accelerometerTrims, masterConfig.acc_for_fast_looptime);
imuUpdate(&currentProfile->accelerometerTrims);
// Measure loop rate just after reading the sensors
@ -781,13 +781,11 @@ void loop(void)
cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime;
dT = (float)cycleTime * 0.000001f;
dT = (float)targetLooptime * 0.000001f;
filterApply7TapFIR(gyroADC);
if (masterConfig.rcSmoothing) {
filterRc();
}
filterRc();
annexCode();
#if defined(BARO) || defined(SONAR)