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Start decoupling imu from config.
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4 changed files with 36 additions and 11 deletions
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@ -21,7 +21,15 @@ extern int32_t errorAltitudeI;
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extern int32_t BaroPID;
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extern int16_t throttleAngleCorrection;
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typedef struct imuRuntimeConfig_s {
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uint8_t acc_lpf_factor;
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float gyro_cmpf_factor;
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float gyro_cmpfm_factor;
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} imuRuntimeConfig_t;
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void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig);
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int getEstimatedAltitude(void);
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void computeIMU(void);
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void computeIMU(rollAndPitchTrims_t *accelerometerTrims);
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void calculateThrottleAngleScale(uint16_t throttle_correction_angle);
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int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
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