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altos: Add gyro-based orientation tracking
[fw/altos]
/
src
/
drivers
/
ao_mpu6000.c
diff --git
a/src/drivers/ao_mpu6000.c
b/src/drivers/ao_mpu6000.c
index 73057820933244555ac40b33c55ada50f4a42da5..5e75b78a13787e8546235bcaeeb44de4c45e0a41 100644
(file)
--- a/
src/drivers/ao_mpu6000.c
+++ b/
src/drivers/ao_mpu6000.c
@@
-118,6
+118,7
@@
_ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
#define G 981 /* in cm/s² */
+#if 0
static int16_t /* cm/s² */
ao_mpu6000_accel(int16_t v)
{
@@
-129,6
+130,7
@@
ao_mpu6000_gyro(int16_t v)
{
return (int16_t) ((v * (int32_t) 20000) / 32767);
}
+#endif
static uint8_t
ao_mpu6000_accel_check(int16_t normal, int16_t test, char *which)