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Merge pull request #9387 from shota3527/sh_ahrs

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Yaw/Altitude estimation sensor fusion
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Paweł Spychalski 2023-12-08 10:06:21 +01:00 • committed by GitHub
commit 28d728c483
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19 changed files with 197 additions and 148 deletions
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src/main/fc/fc_msp.c
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@ -478,7 +478,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
}
for (int i = 0; i < 3; i++) {
#ifdef USE_MAG
sbufWriteU16(dst, mag.magADC[i]);
sbufWriteU16(dst, lrintf(mag.magADC[i]));
#else
sbufWriteU16(dst, 0);
#endif