From 0b85da179e5d520b3bb1ffd47ec751642607f820 Mon Sep 17 00:00:00 2001 From: Kalyn Doerr Date: Sun, 24 Apr 2016 21:53:33 -0500 Subject: [PATCH] remove sc --- src/main/drivers/accgyro_mpu.c | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/src/main/drivers/accgyro_mpu.c b/src/main/drivers/accgyro_mpu.c index 713b6c1d4..30ac4e0b1 100644 --- a/src/main/drivers/accgyro_mpu.c +++ b/src/main/drivers/accgyro_mpu.c @@ -321,12 +321,13 @@ bool mpuGyroRead(int16_t *gyroADC) int count; for (count=0; count < 3; count++) { - if ( (last_data0[count] - current_data[count]) <= -32000) { - current_data[count] = -32677; - } else - if ( (-last_data0[count] + current_data[count]) <= -32000) { - current_data[count] = 32677; - } + //Overflow sanity check. Not working right yet. + //if ( (last_data0[count] - current_data[count]) <= -32000) { + // current_data[count] = -32677; + //} else + //if ( (-last_data0[count] + current_data[count]) <= -32000) { + // current_data[count] = 32677; + //} gyroADC[count] = (int16_t)((current_data[count] + last_data0[count] + last_data1[count]) / 3); last_data1[count] = last_data0[count]; last_data0[count] = current_data[count];