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Fix undefined reference to mag when USE_MAG isn't defined (#9290) 

Fix undefined reference to mag when USE_MAG isn't defined
This commit is contained in:
Michael Keller 2019-12-22 14:31:21 +13:00 committed by GitHub
parent 2c51c1ab94 d890c3afcc
commit 880ee85f7d
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 5 additions and 5 deletions
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10
src/main/flight/imu.c
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@ -216,7 +216,7 @@ static float invSqrt(float x)
static void imuMahonyAHRSupdate(float dt, float gx, float gy, float gz,
bool useAcc, float ax, float ay, float az,
bool useMag, float mx, float my, float mz,
bool useMag,
bool useCOG, float courseOverGround, const float dcmKpGain)
{
static float integralFBx = 0.0f, integralFBy = 0.0f, integralFBz = 0.0f; // integral error terms scaled by Ki
@ -244,6 +244,9 @@ static void imuMahonyAHRSupdate(float dt, float gx, float gy, float gz,
#ifdef USE_MAG
// Use measured magnetic field vector
float mx = mag.magADC[X];
float my = mag.magADC[Y];
float mz = mag.magADC[Z];
float recipMagNorm = sq(mx) + sq(my) + sq(mz);
if (useMag && recipMagNorm > 0.01f) {
// Normalise magnetometer measurement
@ -271,9 +274,6 @@ static void imuMahonyAHRSupdate(float dt, float gx, float gy, float gz,
}
#else
UNUSED(useMag);
UNUSED(mx);
UNUSED(my);
UNUSED(mz);
#endif
// Use measured acceleration vector
@ -553,7 +553,7 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
imuMahonyAHRSupdate(deltaT * 1e-6f,
DEGREES_TO_RADIANS(gyroAverage[X]), DEGREES_TO_RADIANS(gyroAverage[Y]), DEGREES_TO_RADIANS(gyroAverage[Z]),
useAcc, accAverage[X], accAverage[Y], accAverage[Z],
useMag, mag.magADC[X], mag.magADC[Y], mag.magADC[Z],
useMag,
useCOG, courseOverGround, imuCalcKpGain(currentTimeUs, useAcc, gyroAverage));
imuUpdateEulerAngles();