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Merge pull request #4656 from martinbudden/bfa_imu_acc_alt_hold

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Removed unnecessary acc calculation when no alt hold
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Martin Budden 2017-11-28 00:51:28 +00:00 • committed by GitHub
commit d3d5b107cc
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1 changed files with 4 additions and 0 deletions
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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)
{ {
@ -453,7 +455,9 @@ 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)