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Code Issues Wiki Activity

currentTime passed in scheduler task call

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This commit is contained in:
Martin Budden 2016-07-06 17:09:04 +01:00
parent 7122689038
commit 2f9ca4355c
21 changed files with 134 additions and 125 deletions
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7
src/main/flight/imu.c
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@ -374,7 +374,7 @@ static bool isMagnetometerHealthy(void)
return (magADC[X] != 0) && (magADC[Y] != 0) && (magADC[Z] != 0);
}
static void imuCalculateEstimatedAttitude(void)
static void imuCalculateEstimatedAttitude(uint32_t currentTime)
{
static uint32_t previousIMUUpdateTime;
float rawYawError = 0;
@ -382,7 +382,6 @@ static void imuCalculateEstimatedAttitude(void)
bool useMag = false;
bool useYaw = false;
uint32_t currentTime = micros();
uint32_t deltaT = currentTime - previousIMUUpdateTime;
previousIMUUpdateTime = currentTime;
@ -420,10 +419,10 @@ void imuUpdateAccelerometer(rollAndPitchTrims_t *accelerometerTrims)
}
}
void imuUpdateAttitude(void)
void imuUpdateAttitude(uint32_t currentTime)
{
if (sensors(SENSOR_ACC) && isAccelUpdatedAtLeastOnce) {
imuCalculateEstimatedAttitude();
imuCalculateEstimatedAttitude(currentTime);
} else {
accSmooth[X] = 0;
accSmooth[Y] = 0;