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Rev 1991 | Rev 2015 | ||
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Line 212... | Line 212... | ||
212 | averageAcc[axis] += acc[axis]; |
212 | averageAcc[axis] += acc[axis]; |
213 | } |
213 | } |
Line 214... | Line 214... | ||
214 | 214 | ||
215 | averageAccCount++; |
215 | averageAccCount++; |
216 | yawRate = yawGyro + driftCompYaw; |
- | |
217 | - | ||
218 | // We are done reading variables from the analog module. |
- | |
219 | // Interrupt-driven sensor reading may restart. |
- | |
220 | startAnalogConversionCycle(); |
216 | yawRate = yawGyro + driftCompYaw; |
Line 221... | Line 217... | ||
221 | } |
217 | } |
222 | 218 | ||
223 | /* |
219 | /* |
Line 413... | Line 409... | ||
413 | 409 | ||
414 | #ifdef ATTITUDE_USE_ACC_SENSORS |
410 | #ifdef ATTITUDE_USE_ACC_SENSORS |
415 | correctIntegralsByAcc0thOrder(); |
411 | correctIntegralsByAcc0thOrder(); |
416 | driftCorrection(); |
412 | driftCorrection(); |
- | 413 | #endif |
|
- | 414 | ||
- | 415 | // We are done reading variables from the analog module. |
|
- | 416 | // Interrupt-driven sensor reading may restart. |
|
417 | #endif |
417 | startAnalogConversionCycle(); |
Line 418... | Line 418... | ||
418 | } |
418 | } |
419 | 419 |