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Code Issues Releases Activity

No reason to get homeLocation every cycle

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This commit is contained in:
James Cotton 2012-07-21 13:57:25 -05:00
parent 7cdf47c1d4
commit 69057a1373
1 changed files with 2 additions and 4 deletions
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6
flight/Modules/Attitude/revolution/attitude.c
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@ -510,7 +510,6 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
GPSPositionData gpsData;
GPSVelocityData gpsVelData;
GyrosBiasData gyrosBias;
HomeLocationData home;
static bool mag_updated = false;
static bool baro_updated;
@ -572,7 +571,6 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
GPSPositionGet(&gpsData);
GPSVelocityGet(&gpsVelData);
GyrosBiasGet(&gyrosBias);
HomeLocationGet(&home);
// Discard mag if it has NAN (normally from bad calibration)
mag_updated &= (magData.x == magData.x && magData.y == magData.y && magData.z == magData.z);
@ -637,7 +635,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
INSSetGyroVar(revoCalibration.gyro_var);
INSSetBaroVar(revoCalibration.baro_var);
INSSetMagNorth(home.Be);
INSSetMagNorth(homeLocation.Be);
// Initialize the gyro bias from the settings
INSSetGyroBias(&gyrosBias.x);
@ -758,7 +756,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
if(baro_updated)
sensors |= BARO_SENSOR;
INSSetMagNorth(home.Be);
INSSetMagNorth(homeLocation.Be);
if (gps_updated && outdoor_mode)
{