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fix for unused variables warning #11

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fix for unused variables warning #11

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39 changes: 22 additions & 17 deletions Versions/dRehmFlight_Teensy_BETA_1.3/dRehmFlight_Teensy_BETA_1.3.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -553,12 +553,30 @@ void getIMUdata() {
* the readings. The filter parameters B_gyro and B_accel are set to be good for a 2kHz loop rate. Finally,
* the constant errors found in calculate_IMU_error() on startup are subtracted from the accelerometer and gyro readings.
*/
int16_t AcX,AcY,AcZ,GyX,GyY,GyZ,MgX,MgY,MgZ;
int16_t AcX,AcY,AcZ,GyX,GyY,GyZ;

#if defined USE_MPU6050_I2C
mpu6050.getMotion6(&AcX, &AcY, &AcZ, &GyX, &GyY, &GyZ);
#elif defined USE_MPU9250_SPI
int16_t MgX,MgY,MgZ;

mpu9250.getMotion9(&AcX, &AcY, &AcZ, &GyX, &GyY, &GyZ, &MgX, &MgY, &MgZ);

//Magnetometer
MagX = MgX/6.0; //uT
MagY = MgY/6.0;
MagZ = MgZ/6.0;
//Correct the outputs with the calculated error values
MagX = (MagX - MagErrorX)*MagScaleX;
MagY = (MagY - MagErrorY)*MagScaleY;
MagZ = (MagZ - MagErrorZ)*MagScaleZ;
//LP filter magnetometer data
MagX = (1.0 - B_mag)*MagX_prev + B_mag*MagX;
MagY = (1.0 - B_mag)*MagY_prev + B_mag*MagY;
MagZ = (1.0 - B_mag)*MagZ_prev + B_mag*MagZ;
MagX_prev = MagX;
MagY_prev = MagY;
MagZ_prev = MagZ;
#endif

//Accelerometer
Expand Down Expand Up @@ -593,21 +611,7 @@ void getIMUdata() {
GyroY_prev = GyroY;
GyroZ_prev = GyroZ;

//Magnetometer
MagX = MgX/6.0; //uT
MagY = MgY/6.0;
MagZ = MgZ/6.0;
//Correct the outputs with the calculated error values
MagX = (MagX - MagErrorX)*MagScaleX;
MagY = (MagY - MagErrorY)*MagScaleY;
MagZ = (MagZ - MagErrorZ)*MagScaleZ;
//LP filter magnetometer data
MagX = (1.0 - B_mag)*MagX_prev + B_mag*MagX;
MagY = (1.0 - B_mag)*MagY_prev + B_mag*MagY;
MagZ = (1.0 - B_mag)*MagZ_prev + B_mag*MagZ;
MagX_prev = MagX;
MagY_prev = MagY;
MagZ_prev = MagZ;

}

void calculate_IMU_error() {
Expand All @@ -617,7 +621,7 @@ void calculate_IMU_error() {
* accelerometer values AccX, AccY, AccZ, GyroX, GyroY, GyroZ in getIMUdata(). This eliminates drift in the
* measurement.
*/
int16_t AcX,AcY,AcZ,GyX,GyY,GyZ,MgX,MgY,MgZ;
int16_t AcX,AcY,AcZ,GyX,GyY,GyZ;
AccErrorX = 0.0;
AccErrorY = 0.0;
AccErrorZ = 0.0;
Expand All @@ -631,6 +635,7 @@ void calculate_IMU_error() {
#if defined USE_MPU6050_I2C
mpu6050.getMotion6(&AcX, &AcY, &AcZ, &GyX, &GyY, &GyZ);
#elif defined USE_MPU9250_SPI
int16_t MgX,MgY,MgZ;
mpu9250.getMotion9(&AcX, &AcY, &AcZ, &GyX, &GyY, &GyZ, &MgX, &MgY, &MgZ);
#endif

Expand Down