void imuUpdateAccelerometer(void)
{
#ifdef HIL
if (sensors(SENSOR_ACC) && !hilActive) {
updateAccelerationReadings();
isAccelUpdatedAtLeastOnce = true;
}
#else
if (sensors(SENSOR_ACC)) {
updateAccelerationReadings();
isAccelUpdatedAtLeastOnce = true;
}
#endif
}
void imuUpdateAccelerometer(rollAndPitchTrims_t *accelerometerTrims)
{
if (sensors(SENSOR_ACC)) {
updateAccelerationReadings(accelerometerTrims);
isAccelUpdatedAtLeastOnce = true;
}
}
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
{
gyroUpdate();
if (sensors(SENSOR_ACC)) {
updateAccelerationReadings(accelerometerTrims); // TODO rename to accelerometerUpdate and rename many other 'Acceleration' references to be 'Accelerometer'
imuCalculateEstimatedAttitude();
} else {
accADC[X] = 0;
accADC[Y] = 0;
accADC[Z] = 0;
}
}
void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerConfiguration)
{
static int16_t gyroYawSmooth = 0;
gyroGetADC();
if (sensors(SENSOR_ACC)) {
updateAccelerationReadings(accelerometerTrims);
getEstimatedAttitude();
} else {
accADC[X] = 0;
accADC[Y] = 0;
accADC[Z] = 0;
}
gyroData[FD_ROLL] = gyroADC[FD_ROLL];
gyroData[FD_PITCH] = gyroADC[FD_PITCH];
if (mixerConfiguration == MULTITYPE_TRI) {
gyroData[FD_YAW] = (gyroYawSmooth * 2 + gyroADC[FD_YAW]) / 3;
gyroYawSmooth = gyroData[FD_YAW];
} else {
gyroData[FD_YAW] = gyroADC[FD_YAW];
}
}