Fix small angle check when ACC is disabled or not defined (#9201)
Fix small angle check when ACC is disabled or not defined
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@ -724,5 +724,9 @@ void imuQuaternionHeadfreeTransformVectorEarthToBody(t_fp_vector_def *v)
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bool isUpright(void)
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bool isUpright(void)
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{
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{
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return attitudeIsEstablished && getCosTiltAngle() > smallAngleCosZ;
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#ifdef USE_ACC
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return !sensors(SENSOR_ACC) || (attitudeIsEstablished && getCosTiltAngle() > smallAngleCosZ);
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#else
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return true;
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#endif
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}
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}
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@ -234,8 +234,7 @@ uint16_t disableFlightMode(flightModeFlags_e mask)
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bool sensors(uint32_t mask)
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bool sensors(uint32_t mask)
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{
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{
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UNUSED(mask);
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return mask & SENSOR_ACC;
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return false;
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};
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};
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uint32_t millis(void) { return 0; }
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uint32_t millis(void) { return 0; }
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