1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 04:45:24 +03:00

fix the calculation of acceleration magnitude average to run at gps update freq vs PID looptime freq to save CPU resources

This commit is contained in:
s0up 2018-06-14 14:36:31 -07:00
parent 9a06900c83
commit 343049d653

View file

@ -213,12 +213,12 @@ void sensorUpdate()
rescueState.sensor.zVelocity = (rescueState.sensor.currentAltitude - previousAltitude) * 1000000.0f / dTime;
rescueState.sensor.zVelocityAvg = 0.8f * rescueState.sensor.zVelocityAvg + rescueState.sensor.zVelocity * 0.2f;
rescueState.sensor.accMagnitude = (float) sqrt(sq(acc.accADC[Z]) + sq(acc.accADC[X]) + sq(acc.accADC[Y]) / sq(acc.dev.acc_1G));
rescueState.sensor.accMagnitudeAvg = (rescueState.sensor.accMagnitudeAvg * 0.8f) + (rescueState.sensor.accMagnitude * 0.2f);
previousAltitude = rescueState.sensor.currentAltitude;
previousTimeUs = currentTimeUs;
}
rescueState.sensor.accMagnitude = (float) sqrt(sq(acc.accADC[Z]) + sq(acc.accADC[X]) + sq(acc.accADC[Y]) / sq(acc.dev.acc_1G));
rescueState.sensor.accMagnitudeAvg = (rescueState.sensor.accMagnitudeAvg * 0.998f) + (rescueState.sensor.accMagnitude * 0.002f);
}
void performSanityChecks()