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got rid of feature_gyro_smoothing. nobody used that, and its retarded to do anyway.

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This commit is contained in:
dongie 2014-02-18 15:27:53 +09:00
parent 202fc17608
commit 30afff2578
6 changed files with 3409 additions and 3431 deletions
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15
src/imu.c
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@ -57,20 +57,7 @@ void computeIMU(void)
accADC[Z] = 0;
}
if (feature(FEATURE_GYRO_SMOOTHING)) {
static uint8_t Smoothing[3] = { 0, 0, 0 };
static int16_t gyroSmooth[3] = { 0, 0, 0 };
if (Smoothing[0] == 0) {
// initialize
Smoothing[ROLL] = (mcfg.gyro_smoothing_factor >> 16) & 0xff;
Smoothing[PITCH] = (mcfg.gyro_smoothing_factor >> 8) & 0xff;
Smoothing[YAW] = (mcfg.gyro_smoothing_factor) & 0xff;
}
for (axis = 0; axis < 3; axis++) {
gyroData[axis] = (int16_t)(((int32_t)((int32_t)gyroSmooth[axis] * (Smoothing[axis] - 1)) + gyroADC[axis] + 1) / Smoothing[axis]);
gyroSmooth[axis] = gyroData[axis];
}
} else if (mcfg.mixerConfiguration == MULTITYPE_TRI) {
if (mcfg.mixerConfiguration == MULTITYPE_TRI) {
gyroData[YAW] = (gyroYawSmooth * 2 + gyroADC[YAW]) / 3;
gyroYawSmooth = gyroData[YAW];
gyroData[ROLL] = gyroADC[ROLL];