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ACM: use compass.accumulate() in ArduCopter

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this gives us a much less noisy magnetometer
This commit is contained in:
Andrew Tridgell 2012-08-26 13:45:19 +10:00
parent a71cee4579
commit 1fecd135ef
1 changed files with 7 additions and 0 deletions
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7
ArduCopter/ArduCopter.pde
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@ -981,6 +981,7 @@ void setup() {
void loop()
{
uint32_t timer = micros();
bool spare_time = true;
// We want this to execute fast
// ----------------------------
@ -996,6 +997,7 @@ void loop()
// Execute the fast loop
// ---------------------
fast_loop();
spare_time = false;
} else {
#ifdef DESKTOP_BUILD
usleep(1000);
@ -1053,6 +1055,11 @@ void loop()
perf_mon_counter = 0;
}
//PORTK &= B10111111;
spare_time = false;
}
if (spare_time && g.compass_enabled) {
compass.accumulate();
}
}
// PORTK |= B01000000;