Rev 1991 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1991 | Rev 2015 | ||
|---|---|---|---|
| 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 | ||