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Code Issues Wiki Activity

Gyro Soft LPF Rework // Filter rework

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remove 3 point average

lux optimize
This commit is contained in:
borisbstyle 2015-11-17 13:55:45 +01:00
parent 28944852a8
commit 054868e0a4
8 changed files with 64 additions and 31 deletions
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12
src/main/sensors/gyro.c
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@ -38,13 +38,16 @@ int16_t gyroADC[XYZ_AXIS_COUNT];
int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
static gyroConfig_t *gyroConfig;
static int8_t * gyroFIRTable = 0L;
static int16_t gyroFIRState[3][9];
gyro_t gyro; // gyro access functions
sensor_align_e gyroAlign = 0;
void useGyroConfig(gyroConfig_t *gyroConfigToUse)
void useGyroConfig(gyroConfig_t *gyroConfigToUse, int8_t * filterTableToUse)
{
gyroConfig = gyroConfigToUse;
gyroFIRTable = filterTableToUse;
}
void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
@ -121,9 +124,12 @@ void gyroUpdate(void)
if (!gyro.read(gyroADC)) {
return;
}
alignSensors(gyroADC, gyroADC, gyroAlign);
filterApply7TapFIR(gyroADC); // Apply filter to gyro
if (gyroFIRTable) {
filterApply9TapFIR(gyroADC, gyroFIRState, gyroFIRTable);
}
alignSensors(gyroADC, gyroADC, gyroAlign);
if (!isGyroCalibrationComplete()) {
performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);