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smallAngle configurable, user can arm/disarm with swith in any

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orientation
Conflicts:

	src/cli.c
	src/config.c
	src/imu.c
	src/mw.c
	src/mw.h
This commit is contained in:
treymarc 2014-07-02 12:08:37 +00:00 • committed by Dominic Clifton
parent 3b629d58a0
commit 9cf90fa230
5 changed files with 13 additions and 5 deletions
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2
src/main/flight/imu.c
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@ -80,7 +80,7 @@ static void getEstimatedAttitude(void);
void imuInit()
{
smallAngle = lrintf(acc_1G * cosf(RAD * 25.0f));
smallAngle = lrintf(acc_1G * cosf(RAD * imuRuntimeConfig->small_angle));
accVelScale = 9.80665f / acc_1G / 10000.0f;
gyroScaleRad = gyro.scale * (M_PI / 180.0f) * 0.000001f;
}