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Add USE_ACC conditionals

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This commit is contained in:
jflyper 2018-10-09 00:06:05 +09:00
parent af84f9e99d
commit cc0e689bb5
9 changed files with 31 additions and 2 deletions
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5
src/main/flight/imu.c
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@ -351,6 +351,7 @@ STATIC_UNIT_TESTED void imuUpdateEulerAngles(void)
}
}
#ifdef USE_ACC
static bool imuIsAccelerometerHealthy(float *accAverage)
{
float accMagnitudeSq = 0;
@ -364,6 +365,7 @@ static bool imuIsAccelerometerHealthy(float *accAverage)
// Accept accel readings only in range 0.9g - 1.1g
return (0.81f < accMagnitudeSq) && (accMagnitudeSq < 1.21f);
}
#endif
// Calculate the dcmKpGain to use. When armed, the gain is imuRuntimeConfig.dcm_kp * 1.0 scaling.
// When disarmed after initial boot, the scaling is set to 10.0 for the first 20 seconds to speed up initial convergence.
@ -489,9 +491,12 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
#endif
float gyroAverage[XYZ_AXIS_COUNT];
gyroGetAccumulationAverage(gyroAverage);
#ifdef USE_ACC
if (accGetAccumulationAverage(accAverage)) {
useAcc = imuIsAccelerometerHealthy(accAverage);
}
#endif
imuMahonyAHRSupdate(deltaT * 1e-6f,
DEGREES_TO_RADIANS(gyroAverage[X]), DEGREES_TO_RADIANS(gyroAverage[Y]), DEGREES_TO_RADIANS(gyroAverage[Z]),