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More relocation of variables.

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This commit is contained in:
Dominic Clifton 2015-02-01 00:03:46 +01:00
parent 53406a7ac7
commit 8cc9e8ca37
13 changed files with 65 additions and 52 deletions
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8
src/main/flight/imu.c
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@ -48,8 +48,9 @@
extern int16_t debug[4];
int16_t gyroADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
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;
@ -63,11 +64,6 @@ float fc_acc;
float magneticDeclination = 0.0f; // calculated at startup from config
float gyroScaleRad;
// **************
// gyro+acc IMU
// **************
int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
rollAndPitchInclination_t inclination = { { 0, 0 } }; // absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
float anglerad[2] = { 0.0f, 0.0f }; // absolute angle inclination in radians