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AP_InertialSensor: Formalise and document Flymaple Gyro scaling factor

This commit is contained in:
Mike McCauley 2013-09-27 07:59:44 +10:00 committed by Andrew Tridgell
parent db2b7ed4e3
commit d11f952ef1
1 changed files with 5 additions and 2 deletions
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7
libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
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@ -153,6 +153,8 @@ bool AP_InertialSensor_Flymaple::update(void)
}
Vector3f accel_scale = _accel_scale.get();
// FIXME:
hal.gpio->write(4, 1);
hal.scheduler->suspend_timer_procs();
// base the time on the gyro timestamp, as that is what is
@ -188,6 +190,9 @@ bool AP_InertialSensor_Flymaple::update(void)
_gyro *= FLYMAPLE_GYRO_SCALE_R_S;
_gyro -= _gyro_offset;
// FIXME:
hal.gpio->write(4, 0);
#if 0
// whats this all about????
if (_last_filter_hz != _mpu6000_filter) {
@ -251,8 +256,6 @@ void AP_InertialSensor_Flymaple::_accumulate(void)
_gyro_sum_count++;
_last_gyro_timestamp = hal.scheduler->micros();
}
// FIXME:
hal.gpio->write(4, 0);
_in_accumulate = false;
}