paparazzi/paparazzi — pull request #239 by dewagter (2012-07-18 06:20:05+00:00)
Title: Only use IMU data for integration when new measurements flag is set

Serious BugFix for Fixedwing: Somehow this status-checking code never made it to the v3.9 branch while it is critical for fixedwings.

MPU6000 sets the "measurement ready" flag when ready.
-Fixedwings are configured to run a 120Hz imu_periodic loop
-The MPU is configured to give exactly 100 measurements per second
-The MPU is read more often (120) than it has new measurements (100) so we guarantee that no measurements are missed.
-This way no extra interrupt line nor routine are needed (but the driver was still designed to allow it)
-Using the data ready flag we integrate every MPU measurement of the 100 exactly once yielding perfect integration.
-The Control loops are synced to the new_imu_data (100Hz)

Question:

Does this pull request harm the rotorcraft code?