void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
acc.read(accADC);
alignSensors(accADC, accADC, accAlign);
if (!isAccelerationCalibrationComplete()) {
performAcclerationCalibration(rollAndPitchTrims);
}
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
performInflightAccelerationCalibration(rollAndPitchTrims);
}
applyAccelerationTrims(accelerationTrims);
}
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
int16_t accADCRaw[XYZ_AXIS_COUNT];
if (!acc.read(accADCRaw)) {
return;
}
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
if (debugMode == DEBUG_ACCELEROMETER) debug[axis] = accADCRaw[axis];
accSmooth[axis] = accADCRaw[axis];
}
if (accLpfCutHz) {
if (!accFilterInitialised) {
if (accTargetLooptime) { /* Initialisation needs to happen once sample rate is known */
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, accTargetLooptime);
}
accFilterInitialised = true;
}
}
if (accFilterInitialised) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
accSmooth[axis] = lrintf(biquadFilterApply(&accFilter[axis], (float)accSmooth[axis]));
}
}
}
alignSensors(accSmooth, accSmooth, accAlign);
if (!isAccelerationCalibrationComplete()) {
performAcclerationCalibration(rollAndPitchTrims);
}
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
performInflightAccelerationCalibration(rollAndPitchTrims);
}
applyAccelerationTrims(accelerationTrims);
}
