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Whitespace/compiler warnings cleanups by Dominic Clifton;

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Slight tweak of new althold defaults
NOT-flight-tested .hex committing so people can commence with althold testing.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@391 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-08-31 01:40:13 +00:00
parent 77a241bd5f
commit 509e349e69
11 changed files with 3312 additions and 3231 deletions
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4
src/imu.c
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@ -372,7 +372,6 @@ int getEstimatedAltitude(void)
int32_t baroVel;
int32_t vel_tmp;
int32_t BaroAlt_tmp;
float vel_calc;
static float vel = 0.0f;
static float accAlt = 0.0f;
static int32_t lastBaroAlt;
@ -396,8 +395,7 @@ int getEstimatedAltitude(void)
BaroAlt = BaroAlt * cfg.baro_noise_lpf + BaroAlt_tmp * (1.0f - cfg.baro_noise_lpf); // additional LPF to reduce baro noise
// Integrator - velocity, cm/sec
vel_calc = (float) accSum[2] * accVelScale * (float) accTimeSum / (float) accSumCount;
vel += vel_calc;
vel += (float)accSum[2] * accVelScale * (float)accTimeSum / (float)accSumCount;
// Integrator - Altitude in cm
accAlt += vel * ((float) accTimeSum * 0.0000005f); // integrate velocity to get distance (x= a/2 * t^2)