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added optimization note

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2564 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-06-16 16:34:23 +00:00
parent 76d072591b
commit ec5035d1ec
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_IMU/AP_IMU_Oilpan.cpp
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@ -222,9 +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 _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