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Build and pitotmeter fixup

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This commit is contained in:
Martin Budden 2016-12-09 17:36:58 +00:00
parent ec70fcae49
commit afe057cb18
12 changed files with 38 additions and 29 deletions
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4
src/main/flight/imu.c
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@ -500,7 +500,7 @@ static void imuUpdateMeasuredRotationRate(void)
imuAccumulatedRateTime = 0.0f;
#else
for (axis = 0; axis < 3; axis++) {
imuMeasuredRotationBF.A[axis] = gyroADC[axis] * gyroScale;
imuMeasuredRotationBF.A[axis] = gyro.gyroADC[axis] * gyroScale;
}
#endif
}
@ -520,7 +520,7 @@ static void imuUpdateMeasuredAcceleration(void)
#else
/* Convert acceleration to cm/s/s */
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
imuAccelInBodyFrame.A[axis] = accADC[axis] * (GRAVITY_CMSS / acc.dev.acc_1G);
imuAccelInBodyFrame.A[axis] = acc.accADC[axis] * (GRAVITY_CMSS / acc.dev.acc_1G);
imuMeasuredGravityBF.A[axis] = imuAccelInBodyFrame.A[axis];
}
#endif