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Code Issues Wiki Activity

SENSORS: Gyro/accel aligmnet fix

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-04-12 09:55:22 +10:00
parent 2131daf42e
commit 1ee9e1251d
2 changed files with 4 additions and 4 deletions
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4
src/main/sensors/acceleration.c
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@ -207,9 +207,9 @@ void updateAccelerationReadings(void)
performAcclerationCalibration();
}
alignSensors(accADC, accADC, accAlign);
applyAccelerationZero(accZero, accGain);
alignSensors(accADC, accADC, accAlign);
}
void setAccelerationZero(flightDynamicsTrims_t * accZeroToUse)

4
src/main/sensors/gyro.c
View file

@ -154,11 +154,11 @@ void gyroUpdate(void)
}
}
alignSensors(gyroADC, gyroADC, gyroAlign);
if (!isGyroCalibrationComplete()) {
performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
}
applyGyroZero();
alignSensors(gyroADC, gyroADC, gyroAlign);
}