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Start decoupling imu from config.

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This commit is contained in:
Dominic Clifton 2014-06-06 20:36:51 +01:00
parent 9b6e8feeea
commit da73be1b2d
4 changed files with 36 additions and 11 deletions
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4
src/main/mw.c
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@ -36,9 +36,9 @@
#include "sensors/battery.h"
#include "io/buzzer.h"
#include "io/escservo.h"
#include "flight/flight.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/flight.h"
#include "flight/autotune.h"
#include "flight/mixer.h"
#include "io/gimbal.h"
@ -535,7 +535,7 @@ void loop(void)
if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + masterConfig.looptime;
computeIMU();
computeIMU(&currentProfile.accelerometerTrims);
annexCode();
// Measure loop rate just afer reading the sensors
currentTime = micros();