Disable IIR filter for now

src/drivers/lsm303d/lsm303d.cpp

@@ -221,9 +221,9 @@ private:
 
 	unsigned			_current_samplerate;
 
-	FIL_T				_filter_x;
-	FIL_T				_filter_y;
-	FIL_T				_filter_z;
+//	FIL_T				_filter_x;
+//	FIL_T				_filter_y;
+//	FIL_T				_filter_z;
 
 	unsigned			_num_mag_reports;
 	volatile unsigned	_next_mag_report;
@@ -495,20 +495,20 @@ LSM303D::init()
 	set_samplerate(400); /* max sample rate */
 
 	/* initiate filter */
-	TF_DIF_t tf_filter;
-	tf_filter.numInt = 0;
-	tf_filter.numDiff = 0;
-	tf_filter.lowpassLength = 2;
-	tf_filter.highpassLength = 0;
-	tf_filter.lowpassData[0] = 10;
-	tf_filter.lowpassData[1] = 10;
-	//tf_filter.highpassData[0] = ;
-	tf_filter.gain = 1;
-	tf_filter.Ts = 1/_current_samplerate;
-
-	initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_x);
-	initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_y);
-	initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_z);
+//	TF_DIF_t tf_filter;
+//	tf_filter.numInt = 0;
+//	tf_filter.numDiff = 0;
+//	tf_filter.lowpassLength = 2;
+//	tf_filter.highpassLength = 0;
+//	tf_filter.lowpassData[0] = 10;
+//	tf_filter.lowpassData[1] = 10;
+//	//tf_filter.highpassData[0] = ;
+//	tf_filter.gain = 1;
+//	tf_filter.Ts = 1/_current_samplerate;
+//
+//	initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_x);
+//	initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_y);
+//	initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_z);
 
 	mag_set_range(4); /* XXX: take highest sensor range of 12GA? */
 	mag_set_samplerate(100);
@@ -1182,13 +1182,17 @@ LSM303D::measure()
 	accel_report->y_raw = raw_accel_report.y;
 	accel_report->z_raw = raw_accel_report.z;
 
-	float x_in_new = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
-	float y_in_new = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
-	float z_in_new = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
-	
-	accel_report->x = updateFilter(&_filter_x, x_in_new);
-	accel_report->y = updateFilter(&_filter_y, y_in_new);
-	accel_report->z = updateFilter(&_filter_z, z_in_new);
+//	float x_in_new = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
+//	float y_in_new = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
+//	float z_in_new = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
+//
+//	accel_report->x = updateFilter(&_filter_x, x_in_new);
+//	accel_report->y = updateFilter(&_filter_y, y_in_new);
+//	accel_report->z = updateFilter(&_filter_z, z_in_new);
+
+	accel_report->x = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
+	accel_report->y = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
+	accel_report->z = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
 
 	accel_report->scaling = _accel_range_scale;
 	accel_report->range_m_s2 = _accel_range_m_s2;