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Minor tidy of sensor code

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This commit is contained in:
Martin Budden 2016-06-28 22:00:23 +01:00
parent 2f10c77490
commit 9059254db6
7 changed files with 15 additions and 17 deletions
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6
src/main/sensors/gyro.c
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@ -41,7 +41,7 @@ sensor_align_e gyroAlign = 0;
int32_t gyroADC[XYZ_AXIS_COUNT];
float gyroADCf[XYZ_AXIS_COUNT];
static int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
static const gyroConfig_t *gyroConfig;
static biquad_t gyroFilterState[XYZ_AXIS_COUNT];
static uint8_t gyroSoftLpfHz;
@ -160,5 +160,9 @@ void gyroUpdate(void)
gyroADCf[axis] = applyBiQuadFilter((float)gyroADC[axis], &gyroFilterState[axis]);
gyroADC[axis] = lrintf(gyroADCf[axis]);
}
} else {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADCf[axis] = gyroADC[axis];
}
}
}