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cleanup code

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This commit is contained in:
borisbstyle 2016-02-17 14:57:42 +01:00
parent 66f7e52fad
commit 974274b748
4 changed files with 12 additions and 5 deletions
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6
src/main/sensors/gyro.c
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@ -37,7 +37,6 @@
#include "sensors/gyro.h"
uint16_t calibratingG = 0;
int16_t gyroADCRaw[XYZ_AXIS_COUNT];
int32_t gyroADC[XYZ_AXIS_COUNT];
int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
@ -45,7 +44,6 @@ static gyroConfig_t *gyroConfig;
static biquad_t gyroFilterState[3];
static bool gyroFilterStateIsSet;
static float gyroLpfCutFreq;
int axis;
gyro_t gyro; // gyro access functions
sensor_align_e gyroAlign = 0;
@ -57,6 +55,7 @@ void useGyroConfig(gyroConfig_t *gyroConfigToUse, float gyro_lpf_hz)
}
void initGyroFilterCoefficients(void) {
int axis;
if (gyroLpfCutFreq && targetLooptime) { /* Initialisation needs to happen once samplingrate is known */
for (axis = 0; axis < 3; axis++) BiQuadNewLpf(gyroLpfCutFreq, &gyroFilterState[axis], targetLooptime);
gyroFilterStateIsSet = true;
@ -133,6 +132,9 @@ static void applyGyroZero(void)
void gyroUpdate(void)
{
int16_t gyroADCRaw[XYZ_AXIS_COUNT];
int axis;
// range: +/- 8192; +/- 2000 deg/sec
if (!gyro.read(gyroADCRaw)) {
return;