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New Beebrain defaults // refactoring

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borisbstyle 2016-10-13 01:41:04 +02:00
parent 145481afb3
commit 0e827b331d
9 changed files with 33 additions and 30 deletions
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6
src/main/flight/pid.c
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@ -103,7 +103,7 @@ biquadFilter_t dtermFilterLpf[3];
biquadFilter_t dtermFilterNotch[3];
bool dtermNotchInitialised;
bool dtermBiquadLpfInitialised;
denoisingState_t dtermDenoisingState[3];
firFilterState_t dtermDenoisingState[3];
void initFilters(const pidProfile_t *pidProfile) {
int axis;
@ -120,8 +120,8 @@ void initFilters(const pidProfile_t *pidProfile) {
for (axis = 0; axis < 3; axis++) biquadFilterInitLPF(&dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, targetPidLooptime);
}
if (pidProfile->dterm_filter_type == FILTER_DENOISE) {
for (axis = 0; axis < 3; axis++) initDenoisingFilter(&dtermDenoisingState[axis], pidProfile->dterm_lpf_hz, targetPidLooptime);
if (pidProfile->dterm_filter_type == FILTER_FIR) {
for (axis = 0; axis < 3; axis++) initFirFilter(&dtermDenoisingState[axis], pidProfile->dterm_lpf_hz, targetPidLooptime);
}
lowpassFilterType = pidProfile->dterm_filter_type;
}