imu: format comment
@@ -101,7 +101,9 @@ void imu_calc(void) {
lpf(&GEstG[x], accel[x], filtcoeff);
}
}
- } else { //lateshift bartender - quad is IN AIR and things are getting wild
+ } else {
+
+ //lateshift bartender - quad is IN AIR and things are getting wild
// hit accel[3] with a sledgehammer
#ifdef PREFILTER
float filtcoeff = lpfcalc_hz(looptime, 1.0f / (float)PREFILTER);
@@ -109,6 +111,7 @@ void imu_calc(void) {
lpf(&accel[x], accel[x], filtcoeff);
}
#endif
+
// calc mag of filtered acc
float accmag = calcmagnitude(&accel[0]);
if ((accmag > ACC_MIN * ACC_1G) && (accmag < ACC_MAX * ACC_1G)) {
