diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c index afea1727e9..ce3e182780 100644 --- a/src/main/flight/imu.c +++ b/src/main/flight/imu.c @@ -82,7 +82,6 @@ void configureIMU( pidProfile_t *initialPidProfile, accDeadband_t *initialAccDeadband, float accz_lpf_cutoff, - //TODO: Move throttle angle correction code into flight/throttle_angle_correction.c uint16_t throttle_correction_angle ) { @@ -90,7 +89,6 @@ void configureIMU( pidProfile = initialPidProfile; accDeadband = initialAccDeadband; fc_acc = calculateAccZLowPassFilterRCTimeConstant(accz_lpf_cutoff); - //TODO: Move throttle angle correction code into flight/throttle_angle_correction.c throttleAngleScale = calculateThrottleAngleScale(throttle_correction_angle); } @@ -101,7 +99,6 @@ void initIMU() gyroScaleRad = gyro.scale * (M_PIf / 180.0f) * 0.000001f; } -//TODO: Move throttle angle correction code into flight/throttle_angle_correction.c float calculateThrottleAngleScale(uint16_t throttle_correction_angle) { return (1800.0f / M_PIf) * (900.0f / throttle_correction_angle); @@ -333,7 +330,6 @@ void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode) } } -//TODO: Move throttle angle correction code into flight/throttle_angle_correction.c int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value) { float cosZ = EstG.V.Z / sqrtf(EstG.V.X * EstG.V.X + EstG.V.Y * EstG.V.Y + EstG.V.Z * EstG.V.Z);