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Apply gyro zero before filtering // Fix Luxfloat Drift

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This commit is contained in:
borisbstyle 2016-05-16 21:26:06 +02:00
parent 17e5c569b2
commit f3f7827c33
1 changed files with 6 additions and 6 deletions
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12
src/main/sensors/gyro.c
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@ -152,6 +152,12 @@ void gyroUpdate(void)
alignSensors(gyroADC, gyroADC, gyroAlign); alignSensors(gyroADC, gyroADC, gyroAlign);
if (!isGyroCalibrationComplete()) {
performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
}
applyGyroZero();
if (gyroLpfCutFreq) { if (gyroLpfCutFreq) {
if (!gyroFilterStateIsSet) initGyroFilterCoefficients(); /* initialise filter coefficients */ if (!gyroFilterStateIsSet) initGyroFilterCoefficients(); /* initialise filter coefficients */
@ -162,10 +168,4 @@ void gyroUpdate(void)
} }
} }
} }
if (!isGyroCalibrationComplete()) {
performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
}
applyGyroZero();
} }