Simplify tracking

2026-03-24 23:11:17 +01:00
parent 8ab07adfc6
commit 0fc38a5e1b
4 changed files with 35 additions and 76 deletions
--- a/source/imu.cpp
+++ b/source/imu.cpp
@@ -34,9 +34,7 @@ void calibrateGyroBias() {
  biasGY = (float)(sy/BIAS_SAMPLES);
  biasGZ = (float)(sz/BIAS_SAMPLES);
  calTempC = readIMUTemp();
-  angleX = angleY = accumX = accumY = 0.0f;
-  // Seed gravity estimate from current accel so projection is correct immediately
-  gravX = imu.readFloatAccelX(); gravY = imu.readFloatAccelY(); gravZ = imu.readFloatAccelZ();
+  accumX = accumY = 0.0f;

  #ifdef FEATURE_TELEMETRY
    statRecalCount++;