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AP_InertialSensor: update to support esp32

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- Remove whitespace
- Remove instance checks in AP_InertialSensor_NONE timer update

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring 2023-07-31 15:02:10 +01:00 committed by Peter Barker
parent 062f82b3af
commit 732b074bee
1 changed files with 2 additions and 9 deletions
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11
libraries/AP_InertialSensor/AP_InertialSensor_NONE.cpp
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@ -255,17 +255,10 @@ void AP_InertialSensor_NONE::generate_gyro()
void AP_InertialSensor_NONE::timer_update(void)
{
uint64_t now = AP_HAL::micros64();
static uint64_t last_msg_sent = 0;
if (now > last_msg_sent + 2000000) { //2sec= 2000ms = 2000000us
//gcs().send_text(MAV_SEVERITY_WARNING, "NO IMU FOUND");
DEV_PRINTF("INS: NO IMU FOUND\n");
last_msg_sent = now;
}
if (now >= next_accel_sample) {
if (((1U << accel_instance) ) == 0) {
{
generate_accel();
if (next_accel_sample == 0) {
next_accel_sample = now + 1000000UL / accel_sample_hz;
@ -277,7 +270,7 @@ void AP_InertialSensor_NONE::timer_update(void)
}
}
if (now >= next_gyro_sample) {
if (((1U << gyro_instance) ) == 0) {
{
generate_gyro();
if (next_gyro_sample == 0) {
next_gyro_sample = now + 1000000UL / gyro_sample_hz;