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Code Issues Wiki Activity

Removed unnecessary acc calculation when no alt hold

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This commit is contained in:
Martin Budden 2017-11-25 08:37:25 +00:00
parent 4476921cac
commit cfca75204f
1 changed files with 4 additions and 0 deletions
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4
src/main/flight/imu.c
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@ -178,6 +178,7 @@ void imuResetAccelerationSum(void)
accTimeSum = 0; accTimeSum = 0;
} }
#if defined(USE_ALT_HOLD)
static void imuTransformVectorBodyToEarth(t_fp_vector * v) static void imuTransformVectorBodyToEarth(t_fp_vector * v)
{ {
/* From body frame to earth frame */ /* From body frame to earth frame */
@ -227,6 +228,7 @@ static void imuCalculateAcceleration(uint32_t deltaT)
accTimeSum += deltaT; accTimeSum += deltaT;
accSumCount++; accSumCount++;
} }
#endif // USE_ALT_HOLD
static float invSqrt(float x) static float invSqrt(float x)
{ {
@ -452,7 +454,9 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
imuUpdateEulerAngles(); imuUpdateEulerAngles();
#endif #endif
#if defined(USE_ALT_HOLD)
imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
#endif
} }
void imuUpdateAttitude(timeUs_t currentTimeUs) void imuUpdateAttitude(timeUs_t currentTimeUs)