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Add acc and gyro accumulators to improve attitude estimation

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This commit is contained in:
Martin Budden 2017-11-26 20:20:48 +00:00
parent d3d5b107cc
commit 22c672fa7d
9 changed files with 79 additions and 14 deletions
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4
src/main/fc/fc_tasks.c
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@ -130,9 +130,7 @@ void taskBatteryAlerts(timeUs_t currentTimeUs)
#ifndef USE_OSD_SLAVE
static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
accUpdate(&accelerometerConfigMutable()->accelerometerTrims);
accUpdate(currentTimeUs, &accelerometerConfigMutable()->accelerometerTrims);
}
static void taskUpdateRxMain(timeUs_t currentTimeUs)