[paparazzi-commits] [4678] oups...

[antoine drouin]

Revision: 4678
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4678
Author:   poine
Date:     2010-03-14 00:41:31 +0000 (Sun, 14 Mar 2010)
Log Message:
-----------
oups... removed prescaler for ahrs update

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/booz2_main.c

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_main.c      2010-03-14 00:26:01 UTC 
(rev 4677)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_main.c      2010-03-14 00:41:31 UTC 
(rev 4678)
@@ -224,10 +224,7 @@
   }
   else {
     booz_ahrs_propagate();
-#ifdef USE_AHRS_LKF
-    RunOnceEvery(50, booz_ahrs_update_accel());
-#endif
-    //    booz2_filter_attitude_update();
+    booz_ahrs_update_accel();
 #ifdef SITL
     if (nps_bypass_ahrs) {
         sim_overwrite_ahrs();
@@ -248,9 +245,6 @@
 
 static inline void on_mag_event(void) {
   BoozImuScaleMag();
-#ifdef USE_AHRS_LKF
-  if (booz_ahrs.status == BOOZ_AHRS_RUNNING) {
-         RunOnceEvery(10, booz_ahrs_update_mag());
-  }
-#endif
+  if (booz_ahrs.status == BOOZ_AHRS_RUNNING)
+    booz_ahrs_update_mag();
 }