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AP_InertialSensor: Minor correction to comments in AP_InertialSensor_Flymaple.cpp
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@ -254,7 +254,7 @@ void AP_InertialSensor_Flymaple::_accumulate(void)
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// ADXL345 is in the default FIFO bypass mode, so the FIFO is not used
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// ADXL345 is in the default FIFO bypass mode, so the FIFO is not used
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uint8_t buffer[6];
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uint8_t buffer[6];
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uint64_t now = hal.scheduler->micros();
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uint64_t now = hal.scheduler->micros();
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// This takes about 500us at 200kHz I2C speed
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// This takes about 250us at 400kHz I2C speed
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if ((now - _last_accel_timestamp) >= raw_sample_interval_us
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if ((now - _last_accel_timestamp) >= raw_sample_interval_us
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&& hal.i2c->readRegisters(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_DATAX0, 6, buffer) == 0)
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&& hal.i2c->readRegisters(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_DATAX0, 6, buffer) == 0)
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{
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{
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@ -274,7 +274,7 @@ void AP_InertialSensor_Flymaple::_accumulate(void)
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// Read gyro
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// Read gyro
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now = hal.scheduler->micros();
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now = hal.scheduler->micros();
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// This takes about 500us at 200kHz I2C speed
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// This takes about 250us at 400kHz I2C speed
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if ((now - _last_gyro_timestamp) >= raw_sample_interval_us
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if ((now - _last_gyro_timestamp) >= raw_sample_interval_us
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&& hal.i2c->readRegisters(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_GYROX_H, 6, buffer) == 0)
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&& hal.i2c->readRegisters(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_GYROX_H, 6, buffer) == 0)
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{
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{
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