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

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This commit is contained in:
s0up 2018-06-14 14:36:31 -07:00
parent 9a06900c83
commit 343049d653
1 changed files with 3 additions and 3 deletions
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6
src/main/flight/gps_rescue.c
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@ -213,12 +213,12 @@ void sensorUpdate()
rescueState.sensor.zVelocity = (rescueState.sensor.currentAltitude - previousAltitude) * 1000000.0f / dTime; 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.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; previousAltitude = rescueState.sensor.currentAltitude;
previousTimeUs = currentTimeUs; 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() void performSanityChecks()