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Merge pull request #6122 from dbasch/performance-fix 

[GPS Rescue] - Fix the calculation of acceleration magnitude average to run at gps u…
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Michael Keller 2018-06-17 02:36:48 +12:00 committed by GitHub
parent 0a949c35b3 343049d653
commit 609e304643
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1 changed files with 3 additions and 3 deletions
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6
src/main/flight/gps_rescue.c
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@ -213,12 +213,12 @@ void sensorUpdate()
rescueState.sensor.zVelocity = (rescueState.sensor.currentAltitude - previousAltitude) * 1000000.0f / dTime;
rescueState.sensor.zVelocityAvg = 0.8f * rescueState.sensor.zVelocityAvg + rescueState.sensor.zVelocity * 0.2f;
rescueState.sensor.accMagnitude = (float) sqrt(sq(acc.accADC[Z]) + sq(acc.accADC[X]) + sq(acc.accADC[Y]) / sq(acc.dev.acc_1G));
rescueState.sensor.accMagnitudeAvg = (rescueState.sensor.accMagnitudeAvg * 0.8f) + (rescueState.sensor.accMagnitude * 0.2f);
previousAltitude = rescueState.sensor.currentAltitude;
previousTimeUs = currentTimeUs;
}
rescueState.sensor.accMagnitude = (float) sqrt(sq(acc.accADC[Z]) + sq(acc.accADC[X]) + sq(acc.accADC[Y]) / sq(acc.dev.acc_1G));
rescueState.sensor.accMagnitudeAvg = (rescueState.sensor.accMagnitudeAvg * 0.998f) + (rescueState.sensor.accMagnitude * 0.002f);
}
void performSanityChecks()