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move raw gyro debug for DEBUG_FFT and DEBUG_FFT_FREQ to correct place

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ctzsnooze 2018-07-22 00:43:55 +10:00
parent ad9197ca6a
commit 0296ffd13e
1 changed files with 9 additions and 4 deletions
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13
src/main/sensors/gyro_filter_impl.h
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@ -7,6 +7,15 @@ static FAST_CODE void GYRO_FILTER_FUNCTION_NAME(gyroSensor_t *gyroSensor, timeDe
// DEBUG_GYRO_SCALED records the unfiltered, scaled gyro output // DEBUG_GYRO_SCALED records the unfiltered, scaled gyro output
GYRO_FILTER_DEBUG_SET(DEBUG_GYRO_SCALED, axis, lrintf(gyroADCf)); GYRO_FILTER_DEBUG_SET(DEBUG_GYRO_SCALED, axis, lrintf(gyroADCf));
#ifdef USE_GYRO_DATA_ANALYSE
if (isDynamicFilterActive()) {
if (axis == X) {
GYRO_FILTER_DEBUG_SET(DEBUG_FFT, 0, lrintf(gyroADCf)); // store raw data
GYRO_FILTER_DEBUG_SET(DEBUG_FFT_FREQ, 3, lrintf(gyroADCf)); // store raw data
}
}
#endif
// apply static notch filters and software lowpass filters // apply static notch filters and software lowpass filters
gyroADCf = gyroSensor->notchFilter1ApplyFn((filter_t *)&gyroSensor->notchFilter1[axis], gyroADCf); gyroADCf = gyroSensor->notchFilter1ApplyFn((filter_t *)&gyroSensor->notchFilter1[axis], gyroADCf);
gyroADCf = gyroSensor->notchFilter2ApplyFn((filter_t *)&gyroSensor->notchFilter2[axis], gyroADCf); gyroADCf = gyroSensor->notchFilter2ApplyFn((filter_t *)&gyroSensor->notchFilter2[axis], gyroADCf);
@ -16,10 +25,6 @@ static FAST_CODE void GYRO_FILTER_FUNCTION_NAME(gyroSensor_t *gyroSensor, timeDe
#ifdef USE_GYRO_DATA_ANALYSE #ifdef USE_GYRO_DATA_ANALYSE
if (isDynamicFilterActive()) { if (isDynamicFilterActive()) {
gyroDataAnalysePush(axis, gyroADCf); gyroDataAnalysePush(axis, gyroADCf);
if (axis == X) {
GYRO_FILTER_DEBUG_SET(DEBUG_FFT, 0, lrintf(gyroADCf)); // store raw data
GYRO_FILTER_DEBUG_SET(DEBUG_FFT_FREQ, 3, lrintf(gyroADCf)); // store raw data
}
gyroADCf = gyroSensor->notchFilterDynApplyFn((filter_t *)&gyroSensor->notchFilterDyn[axis], gyroADCf); gyroADCf = gyroSensor->notchFilterDynApplyFn((filter_t *)&gyroSensor->notchFilterDyn[axis], gyroADCf);
if (axis == X) { if (axis == X) {
GYRO_FILTER_DEBUG_SET(DEBUG_FFT, 1, lrintf(gyroADCf)); // store data after dynamic notch GYRO_FILTER_DEBUG_SET(DEBUG_FFT, 1, lrintf(gyroADCf)); // store data after dynamic notch