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Code Issues Wiki Activity

imuUpdateAccDelayed unnecessary

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borisbstyle 2015-10-01 13:49:32 +02:00
parent 4ccf9eac2e
commit b523ff1557
1 changed files with 2 additions and 10 deletions
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12
src/main/mw.c
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@ -727,14 +727,6 @@ void filterRc(void){
}
}
bool imuUpdateAccDelayed(void) {
if (flightModeFlags) {
return false;
} else {
return true;
}
}
void loop(void)
{
static uint32_t loopTime;
@ -787,7 +779,7 @@ void loop(void)
loopTime = currentTime + targetLooptime;
// Determine current flight mode. When no acc needed in pid calculations we should only read gyro to reduce latency
if (imuUpdateAccDelayed()) {
if (!flightModeFlags) {
imuUpdate(&currentProfile->accelerometerTrims, ONLY_GYRO); // When no level modes active read only gyro
} else {
imuUpdate(&currentProfile->accelerometerTrims, ACC_AND_GYRO); // When level modes active read gyro and acc
@ -887,7 +879,7 @@ void loop(void)
}
// When no level modes active read acc after motor update
if (imuUpdateAccDelayed()) {
if (!flightModeFlags) {
imuUpdate(&currentProfile->accelerometerTrims, ONLY_ACC);
}