That ability has not been added yet, but yeah that would be an interesting idea for the Blackbox. It doesn’t seem like that would be a useful feature for the Configurator since the 3D model would just be window-dressing at that point (wouldn’t reveal the actual attitude estimate of the FC so doesn’t reveal anything about potential flight problems).

The skipping of the IMU happens here:

https://github.com/cleanflight/cleanflight/blob/master/src/main/flight/imu.c#L304

imuCalculateEstimatedAttitude() is never called when an accelerometer sensor is not present.

Which ESCs are you using? I think some of them don’t like sub-1000 looptimes.

I disabled the accelerator and lowered my looptime….now my quad falls out of the sky 🙁

There is a bunch of time involved in just simple multiplies, divides and additions as well, so speeding up the trig functions isn’t everything. But yes, there is speedup to be had from improving the trig. Check out this PR for a faster trig approximation solution: https://github.com/cleanflight/cleanflight/pull/1092

Yes, it does currently avoid reading the accelerometer I2C registers when the acc is disabled, so there will be a speedup from that.

You mean the speedup from disabling the accelerometer? Yep, that’ll work fine!

If you mean the profiler, I haven’t included it into the target.h file for CC3D, but it should work (however you need to assign the right timers to the profiler).