void updateAccelerationReadings(void)
{
if (!acc.read(accADCRaw)) {
return;
}
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) accADC[axis] = accADCRaw[axis];
if (accLpfCutHz) {
if (!accFilterInitialised) {
if (targetLooptime) { /* Initialisation needs to happen once sample rate is known */
for (int axis = 0; axis < 3; axis++) {
biquadFilterInit(&accFilterState[axis], accLpfCutHz, 0);
}
accFilterInitialised = true;
}
}
if (accFilterInitialised) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
accADC[axis] = lrintf(biquadFilterApply(&accFilterState[axis], (float) accADC[axis]));
}
}
}
if (!isAccelerationCalibrationComplete()) {
performAcclerationCalibration();
}
applyAccelerationZero(accZero, accGain);
alignSensors(accADC, accADC, accAlign);
}
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);
}