From 7cc87b42c8b773a5dc55afee1c19aa3e494aa101 Mon Sep 17 00:00:00 2001 From: Victoria Fischer Date: Wed, 24 Dec 2025 09:13:11 +0100 Subject: [PATCH] mpu: only emit hardware sensor states, not logical ones --- src/tasks/mpu.rs | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/tasks/mpu.rs b/src/tasks/mpu.rs index b483a9f..a423ebb 100644 --- a/src/tasks/mpu.rs +++ b/src/tasks/mpu.rs @@ -63,8 +63,6 @@ pub async fn mpu_task(events: DynamicSender<'static, Measurement>, bus: I2cDevic let sensor_ref = &mut sensor; events.send(Measurement::SensorHardwareStatus(SensorSource::IMU, crate::events::SensorState::Online)).await; - events.send(Measurement::SensorHardwareStatus(SensorSource::GravityReference, crate::events::SensorState::AcquiringFix)).await; - events.send(Measurement::SensorHardwareStatus(SensorSource::ForwardsReference, crate::events::SensorState::AcquiringFix)).await; //TODO: Need to read in a constant buffer of accelerometer measurements, which we can then use to determine where "forward" points in the body frame when converting from the sensor frame. // From there, we can rotate the body frame into the world frame using gps headings to generate a compass north fn lowpass(prev: f32, current: f32, alpha: f32) -> f32 {