Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_InertialSensor: avoid ifdef for AP_MODULE_SUPPORTED

Browse Source
This commit is contained in:
Andrew Tridgell 2016-07-14 11:39:36 +10:00
parent e82468a529
commit eee9fc88a1
1 changed files with 0 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
View File

@ -71,10 +71,8 @@ void AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(uint8_t instance,
dt = 1.0f / _imu._gyro_raw_sample_rates[instance];
#if AP_MODULE_SUPPORTED
// call gyro_sample hook if any
AP_Module::call_hook_gyro_sample(instance, dt, gyro);
#endif
// compute delta angle
Vector3f delta_angle = (gyro + _imu._last_raw_gyro[instance]) * 0.5f * dt;
@ -171,10 +169,8 @@ void AP_InertialSensor_Backend::_notify_new_accel_raw_sample(uint8_t instance,
dt = 1.0f / _imu._accel_raw_sample_rates[instance];
#if AP_MODULE_SUPPORTED
// call gyro_sample hook if any
AP_Module::call_hook_accel_sample(instance, dt, accel);
#endif
_imu.calc_vibration_and_clipping(instance, accel, dt);