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Remove duplicate code from MSP_RAW_IMU. Saves a ~24 bytes of flash

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space and results in easier to read code due to less nesting.
This commit is contained in:
Dominic Clifton 2015-06-24 23:17:59 +01:00
parent 4fcecbd667
commit 26e950b433
1 changed files with 5 additions and 8 deletions
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13
src/main/io/serial_msp.c
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@ -812,14 +812,11 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_RAW_IMU:
headSerialReply(18);
// Hack due to choice of units for sensor data in multiwii
if (acc_1G > 1024) {
for (i = 0; i < 3; i++)
serialize16(accSmooth[i] / 8);
} else {
for (i = 0; i < 3; i++)
serialize16(accSmooth[i]);
}
// Hack scale due to choice of units for sensor data in multiwii
uint8_t scale = acc_1G > 1024 ? 8 : 0;
for (i = 0; i < 3; i++)
serialize16(accSmooth[i] / scale);
for (i = 0; i < 3; i++)
serialize16(gyroADC[i]);
for (i = 0; i < 3; i++)