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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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2
src/test/unit/arming_prevention_unittest.cc
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@ -635,7 +635,7 @@ extern "C" {
void writeServos(void) {};
void calculateRxChannelsAndUpdateFailsafe(timeUs_t) {}
bool isMixerUsingServos(void) { return false; }
void gyroUpdate(void) {}
void gyroUpdate(timeUs_t) {}
timeDelta_t getTaskDeltaTime(cfTaskId_e) { return 0; }
void updateRSSI(timeUs_t) {}
bool failsafeIsMonitoring(void) { return false; }

2
src/test/unit/flight_imu_unittest.cc
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@ -239,4 +239,6 @@ uint32_t micros(void) { return 0; }
bool isBaroCalibrationComplete(void) { return true; }
void performBaroCalibrationCycle(void) {}
int32_t baroCalculateAltitude(void) { return 0; }
bool gyroGetAccumulationAverage(float *) { return false; }
bool accGetAccumulationAverage(float *) { return false; }
}