Unnecessary computation: Scrub Roll & Pitch Calculations from IMU Component - Githubissues

PlanetaryRobotics / IrisRoverPackage

Complete software package for the Iris Lunar Rover (CMU).

GNU General Public License v3.0

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Unnecessary computation: Scrub Roll & Pitch Calculations from IMU Component #169

Open zCoCo opened 2 years ago

zCoCo commented 2 years ago

Scrub Roll & Pitch Calculations from IMU because:

They're currently not used anywhere.
They're expensive & called in a high-frequency rate group.
Ground can (much more flexibly) handle this information since we're just passing the raw sensor values to Ground in the telem as it is.

https://github.com/PlanetaryRobotics/CubeRoverPackage/blob/f640e836ef109c92d832384047cc90bb53ee0124/Apps/FlightSoftware/fprime/CubeRover/IMU/IMUComponent.cpp#L74-L103