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Replaced gyroData with gyroADC as they both contain the same value

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This commit is contained in:
Steveis 2015-05-17 07:14:42 +01:00
parent 318592b063
commit 6448b4b3d7
16 changed files with 81 additions and 86 deletions
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4
src/main/flight/imu.c
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@ -48,7 +48,6 @@
int16_t accSmooth[XYZ_AXIS_COUNT];
int32_t accSum[XYZ_AXIS_COUNT];
int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
uint32_t accTimeSum = 0; // keep track for integration of acc
int accSumCount = 0;
@ -301,9 +300,6 @@ static void imuCalculateEstimatedAttitude(void)
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
{
gyroUpdate();
gyroData[FD_ROLL] = gyroADC[FD_ROLL];
gyroData[FD_PITCH] = gyroADC[FD_PITCH];
gyroData[FD_YAW] = gyroADC[FD_YAW];
if (sensors(SENSOR_ACC)) {
updateAccelerationReadings(accelerometerTrims); // TODO rename to accelerometerUpdate and rename many other 'Acceleration' references to be 'Accelerometer'