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Minimize latency in Acro modes with acc enabled

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This commit is contained in:
borisbstyle 2015-09-25 15:23:04 +02:00
parent 9277f64d85
commit f39ca7add6
3 changed files with 86 additions and 51 deletions
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8
src/main/flight/imu.h
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@ -64,6 +64,12 @@ typedef enum {
ACCPROC_COPY
} accProcessorState_e;
typedef enum {
ONLY_GYRO = 0,
ONLY_ACC,
ACC_AND_GYRO
} imuUpdateMode_e;
typedef struct accProcessor_s {
accProcessorState_e state;
} accProcessor_t;
@ -84,4 +90,4 @@ float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
int16_t imuCalculateHeading(t_fp_vector *vec);
void imuResetAccelerationSum(void);
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims);
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t imuUpdateSensors);