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Cycletime Jitter buffer added // Removed reservations in scheduler

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borisbstyle 2016-02-20 20:18:51 +01:00
parent 0d2bf3184c
commit 06942f574e
5 changed files with 29 additions and 23 deletions
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11
src/main/flight/mixer.c
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@ -57,7 +57,6 @@
#include "config/config.h"
uint8_t motorCount;
extern float dT;
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
@ -962,7 +961,8 @@ void filterServos(void)
{
#ifdef USE_SERVOS
int16_t servoIdx;
static filterStatePt1_t servoFitlerState[MAX_SUPPORTED_SERVOS];
static bool servoFilterIsSet;
static biquad_t servoFilterState[MAX_SUPPORTED_SERVOS];
#if defined(MIXER_DEBUG)
uint32_t startTime = micros();
@ -970,7 +970,12 @@ void filterServos(void)
if (mixerConfig->servo_lowpass_enable) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
servo[servoIdx] = filterApplyPt1(servo[servoIdx], &servoFitlerState[servoIdx], mixerConfig->servo_lowpass_freq, dT);
if (!servoFilterIsSet) {
BiQuadNewLpf(mixerConfig->servo_lowpass_freq, &servoFilterState[servoIdx], targetLooptime);
servoFilterIsSet = true;
}
servo[servoIdx] = lrintf(applyBiQuadFilter((float) servo[servoIdx], &servoFilterState[servoIdx]));
// Sanity check
servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
}