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took out cycle counter stuff for timing, now using systick + counter strictly. ... seems improved loop precision a bit.

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put gyro interleave under define. this needs to be cleaned sometime.
took out "gyro glitch" stuff that was leftover from  nintendo days.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@162 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-06-07 15:29:37 +00:00
parent 19ca85963b
commit 572d5827cc
7 changed files with 2478 additions and 2794 deletions
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8
src/sensors.c
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@ -272,7 +272,6 @@ void Baro_update(void)
static void GYRO_Common(void)
{
static int16_t previousGyroADC[3] = { 0, 0, 0 };
static int32_t g[3];
uint8_t axis;
@ -293,13 +292,6 @@ static void GYRO_Common(void)
}
calibratingG--;
}
for (axis = 0; axis < 3; axis++) {
gyroADC[axis] -= gyroZero[axis];
//anti gyro glitch, limit the variation between two consecutive readings
gyroADC[axis] = constrain(gyroADC[axis], previousGyroADC[axis] - 800, previousGyroADC[axis] + 800);
previousGyroADC[axis] = gyroADC[axis];
}
}
void Gyro_getADC(void)