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Merge pull request #123 from treymarc/patch-9 

unroll loop for better code size
This commit is contained in:
dongie 2014-06-12 11:03:37 +09:00
parent 009fe86833 4ccf31d514
commit f22c09630c
1 changed files with 3 additions and 4 deletions
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7
src/imu.c
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@ -62,12 +62,11 @@ void computeIMU(void)
if (mcfg.mixerConfiguration == MULTITYPE_TRI) { if (mcfg.mixerConfiguration == MULTITYPE_TRI) {
gyroData[YAW] = (gyroYawSmooth * 2 + gyroADC[YAW]) / 3; gyroData[YAW] = (gyroYawSmooth * 2 + gyroADC[YAW]) / 3;
gyroYawSmooth = gyroData[YAW]; gyroYawSmooth = gyroData[YAW];
gyroData[ROLL] = gyroADC[ROLL];
gyroData[PITCH] = gyroADC[PITCH];
} else { } else {
for (axis = 0; axis < 3; axis++) gyroData[YAW] = gyroADC[YAW];
gyroData[axis] = gyroADC[axis];
} }
gyroData[ROLL] = gyroADC[ROLL];
gyroData[PITCH] = gyroADC[PITCH];
} }
// ************************************************** // **************************************************