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Code Issues Wiki Activity

async processing removed

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-10-16 15:02:46 +02:00
parent fd34e7acf2
commit aac9e485c0
16 changed files with 28 additions and 283 deletions
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31
src/main/sensors/acceleration.c
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@ -495,42 +495,14 @@ static void applyAccelerationZero(const flightDynamicsTrims_t * accZero, const f
accADC[Z] = (accADC[Z] - accZero->raw[Z]) * accGain->raw[Z] / 4096;
}
#ifdef USE_ASYNC_GYRO_PROCESSING
STATIC_FASTRAM float accumulatedMeasurements[XYZ_AXIS_COUNT];
STATIC_FASTRAM int accumulatedMeasurementCount;
static void accUpdateAccumulatedMeasurements(void)
{
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
accumulatedMeasurements[axis] += acc.accADCf[axis];
}
accumulatedMeasurementCount++;
}
#endif
/*
* Calculate measured acceleration in body frame in g
*/
void accGetMeasuredAcceleration(fpVector3_t *measuredAcc)
{
#ifdef USE_ASYNC_GYRO_PROCESSING
if (accumulatedMeasurementCount) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
measuredAcc->v[axis] = accumulatedMeasurements[axis] * GRAVITY_CMSS / accumulatedMeasurementCount;
accumulatedMeasurements[axis] = 0;
}
accumulatedMeasurementCount = 0;
}
else {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
measuredAcc->v[axis] = acc.accADCf[axis] * GRAVITY_CMSS;
}
}
#else
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
measuredAcc->v[axis] = acc.accADCf[axis] * GRAVITY_CMSS;
}
#endif
}
void accUpdate(void)
@ -588,9 +560,6 @@ void accUpdate(void)
}
#endif
#ifdef USE_ASYNC_GYRO_PROCESSING
accUpdateAccumulatedMeasurements();
#endif
}
void accGetVibrationLevels(fpVector3_t *accVibeLevels)