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Merge pull request #10467 from etracer65/alt_hold_cleanup 

Altitude hold removal cleanup
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Michael Keller 2021-01-11 02:46:36 +08:00 committed by GitHub
parent e74a892645 1ca01692a7
commit 00b62185a5
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 0 additions and 16 deletions
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12
src/main/flight/imu.c
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@ -85,11 +85,8 @@ static bool imuUpdated = false;
#define ATTITUDE_RESET_ACTIVE_TIME 500000 // 500ms - Time to wait for attitude to converge at high gain
#define GPS_COG_MIN_GROUNDSPEED 500 // 500cm/s minimum groundspeed for a gps heading to be considered valid
int32_t accSum[XYZ_AXIS_COUNT];
float accAverage[XYZ_AXIS_COUNT];
uint32_t accTimeSum = 0; // keep track for integration of acc
int accSumCount = 0;
bool canUseGPSHeading = true;
static float throttleAngleScale;
@ -199,15 +196,6 @@ void imuInit(void)
#endif
}
void imuResetAccelerationSum(void)
{
accSum[0] = 0;
accSum[1] = 0;
accSum[2] = 0;
accSumCount = 0;
accTimeSum = 0;
}
#if defined(USE_ACC)
static float invSqrt(float x)
{

4
src/main/flight/imu.h
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@ -26,9 +26,6 @@
#include "pg/pg.h"
// Exported symbols
extern uint32_t accTimeSum;
extern int accSumCount;
extern int32_t accSum[XYZ_AXIS_COUNT];
extern bool canUseGPSHeading;
extern float accAverage[XYZ_AXIS_COUNT];
@ -74,7 +71,6 @@ float getCosTiltAngle(void);
void getQuaternion(quaternion * q);
void imuUpdateAttitude(timeUs_t currentTimeUs);
void imuResetAccelerationSum(void);
void imuInit(void);
#ifdef SIMULATOR_BUILD