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Use float for imuIsAccelerometerHealthy calculation

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This commit is contained in:
Martin Budden 2017-11-25 08:45:57 +00:00
parent 4476921cac
commit b6c3a9f19a
1 changed files with 3 additions and 2 deletions
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5
src/main/flight/imu.c
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@ -389,9 +389,10 @@ STATIC_UNIT_TESTED void imuUpdateEulerAngles(void){
static bool imuIsAccelerometerHealthy(void) static bool imuIsAccelerometerHealthy(void)
{ {
int32_t accMagnitude = 0; float accMagnitude = 0;
for (int axis = 0; axis < 3; axis++) { for (int axis = 0; axis < 3; axis++) {
accMagnitude += (int32_t)acc.accSmooth[axis] * acc.accSmooth[axis]; const float a = acc.accSmooth[axis];
accMagnitude += a * a;
} }
accMagnitude = accMagnitude * 100 / (sq((int32_t)acc.dev.acc_1G)); accMagnitude = accMagnitude * 100 / (sq((int32_t)acc.dev.acc_1G));