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Split up imuUpdate for gyro and acc

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borisbstyle 2015-12-05 12:52:43 +01:00
parent 81299e34de
commit b3f0bd1402
3 changed files with 14 additions and 17 deletions
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12
src/main/flight/imu.c
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@ -425,12 +425,14 @@ static void imuCalculateEstimatedAttitude(void)
imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
}
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t imuUpdateSensors)
void imuUpdateGyro(void)
{
if (imuUpdateSensors == ONLY_GYRO || imuUpdateSensors == ACC_AND_GYRO) {
gyroUpdate();
}
if (sensors(SENSOR_ACC) && (!imuUpdateSensors == ONLY_GYRO)) {
gyroUpdate();
}
void imuUpdateAcc(rollAndPitchTrims_t *accelerometerTrims)
{
if (sensors(SENSOR_ACC)) {
updateAccelerationReadings(accelerometerTrims);
imuCalculateEstimatedAttitude();
} else {