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Fixed missing imuMeasuredGravityBF calculation with async gyro processing

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-11-06 16:24:28 +10:00
parent d451a755bd
commit 791fb74f96
1 changed files with 1 additions and 0 deletions
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src/main/flight/imu.c
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@ -509,6 +509,7 @@ static void imuUpdateMeasuredAcceleration(void)
#ifdef ASYNC_GYRO_PROCESSING
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
imuAccelInBodyFrame.A[axis] = imuAccumulatedAcc[axis] / imuAccumulatedAccCount;
imuMeasuredGravityBF.A[axis] = imuAccelInBodyFrame.A[axis];
imuAccumulatedAcc[axis] = 0;
}
imuAccumulatedAccCount = 0;;