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This commit is contained in:
Dominic Clifton 2014-07-31 13:47:23 +01:00
parent 0045e5c328
commit 3d65e4ff96
3 changed files with 1177 additions and 1176 deletions
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10
src/main/flight/imu.c
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@ -78,6 +78,11 @@ float anglerad[2] = { 0.0f, 0.0f }; // absolute angle inclination in radians
static void getEstimatedAttitude(void);
imuRuntimeConfig_t *imuRuntimeConfig;
pidProfile_t *pidProfile;
barometerConfig_t *barometerConfig;
accDeadband_t *accDeadband;
void imuInit()
{
smallAngle = lrintf(acc_1G * cosf(RAD * imuRuntimeConfig->small_angle));
@ -90,11 +95,6 @@ void calculateThrottleAngleScale(uint16_t throttle_correction_angle)
throttleAngleScale = (1800.0f / M_PI) * (900.0f / throttle_correction_angle);
}
imuRuntimeConfig_t *imuRuntimeConfig;
pidProfile_t *pidProfile;
barometerConfig_t *barometerConfig;
accDeadband_t *accDeadband;
void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, accDeadband_t *initialAccDeadband)
{
imuRuntimeConfig = initialImuRuntimeConfig;