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IMU speedup by shorting the temp calculation. If someone bothers to temp calibrate their sensors, they'll need to edit this shortcut. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2677 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-06-26 06:23:22 +00:00
parent 569087199d
commit ebfb132f34
2 changed files with 6 additions and 6 deletions
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6
libraries/AP_IMU/AP_IMU_Oilpan.cpp
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@ -222,12 +222,12 @@ AP_IMU_Oilpan::_sensor_compensation(uint8_t channel, int temperature) const
// do gyro temperature compensation // do gyro temperature compensation
if (channel < 3) { if (channel < 3) {
//return 1658; return 1658;
//* /*
return _gyro_temp_curve[channel][0] + return _gyro_temp_curve[channel][0] +
_gyro_temp_curve[channel][1] * temperature + _gyro_temp_curve[channel][1] * temperature +
_gyro_temp_curve[channel][2] * temperature * temperature; _gyro_temp_curve[channel][2] * temperature * temperature;
// */ //*/
} }
// do fixed-offset accelerometer compensation // do fixed-offset accelerometer compensation