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More Jitter Enhancements for Naze target

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remove debug

Anti Jitter Enhancements for Naze target

Jitter Optimalisation without emf avoidance
This commit is contained in:
borisbstyle 2015-09-23 11:59:51 +02:00
parent 9ed1c46065
commit 4a492c611a
3 changed files with 64 additions and 21 deletions
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10
src/main/sensors/acceleration.c
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@ -19,7 +19,6 @@
#include <stdint.h>
#include "platform.h"
#include "debug.h"
#include "common/axis.h"
@ -36,8 +35,6 @@
#include "sensors/acceleration.h"
#define DEBUG_IMU_SPEED
int16_t accADC[XYZ_AXIS_COUNT];
acc_t acc; // acc access functions
@ -175,15 +172,10 @@ void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
#ifdef DEBUG_IMU_SPEED
uint32_t time = micros();
#endif
if (!acc.read(accADC)) {
return;
}
#ifdef DEBUG_IMU_SPEED
debug[1] = micros() - time;
#endif
alignSensors(accADC, accADC, accAlign);
if (!isAccelerationCalibrationComplete()) {