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Revert "Moved updateGPSRescueState to imuUpdateAttitude. gps_rescue.c tidy."

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Michael Keller 2018-06-14 13:25:52 +12:00 • committed by GitHub
parent 7b035ce3a8
commit 4ead807edd
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3 changed files with 91 additions and 93 deletions
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4
src/main/fc/fc_core.c
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@ -924,6 +924,10 @@ static FAST_CODE_NOINLINE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
} }
#endif #endif
#ifdef USE_GPS_RESCUE
updateGPSRescueState();
#endif
#ifdef USE_SDCARD #ifdef USE_SDCARD
afatfs_poll(); afatfs_poll();
#endif #endif

2
src/main/flight/gps_rescue.c
View file

@ -182,8 +182,6 @@ void updateGPSRescueState(void)
disarm(); disarm();
rescueStop(); rescueStop();
break; break;
default:
break;
} }
performSanityChecks(); performSanityChecks();

4
src/main/flight/imu.c
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@ -41,7 +41,6 @@
#include "flight/imu.h" #include "flight/imu.h"
#include "flight/mixer.h" #include "flight/mixer.h"
#include "flight/pid.h" #include "flight/pid.h"
#include "flight/gps_rescue.h"
#include "io/gps.h" #include "io/gps.h"
@ -522,9 +521,6 @@ void imuUpdateAttitude(timeUs_t currentTimeUs)
acc.accADC[Y] = 0; acc.accADC[Y] = 0;
acc.accADC[Z] = 0; acc.accADC[Z] = 0;
} }
#ifdef USE_GPS_RESCUE
updateGPSRescueState();
#endif
} }
bool shouldInitializeGPSHeading() bool shouldInitializeGPSHeading()