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Code Issues Wiki Activity

Cleanup // Reorganisation

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This commit is contained in:
borisbstyle 2015-10-22 17:27:26 +02:00
parent fbfc9ee9ca
commit d076a60eb5
3 changed files with 41 additions and 75 deletions
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18
src/main/flight/imu.c
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@ -50,9 +50,6 @@
#include "config/runtime_config.h"
//#define DEBUG_IMU
//#define DEBUG_IMU_SPEED
int16_t accSmooth[XYZ_AXIS_COUNT];
int32_t accSum[XYZ_AXIS_COUNT];
@ -411,19 +408,10 @@ static void imuCalculateEstimatedAttitude(void)
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t imuUpdateSensors)
{
#ifdef DEBUG_IMU_SPEED
uint32_t time = micros();
#endif
if (imuUpdateSensors == ONLY_GYRO || imuUpdateSensors == ACC_AND_GYRO) {
gyroUpdate();
#ifdef DEBUG_IMU_SPEED
debug[0] = micros() - time; // gyro read time
#endif
}
if (sensors(SENSOR_ACC) && (!imuUpdateSensors == ONLY_GYRO)) {
#ifdef DEBUG_IMU_SPEED
time = micros();
#endif
updateAccelerationReadings(accelerometerTrims);
imuCalculateEstimatedAttitude();
} else {
@ -431,12 +419,6 @@ void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t imuUpdateSensors
accADC[Y] = 0;
accADC[Z] = 0;
}
#ifdef DEBUG_IMU_SPEED
debug[1] = micros() - time; // acc read time
if (imuUpdateSensors == ACC_AND_GYRO) {
debug[2] = debug[0] + debug[1]; // gyro + acc read time
}
#endif
}
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value)