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Higher-order gyro filter (#5257)

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* Implement nth order Butterworth

Uses biquad sections

* Purge RC+FIR2

* Add butterworth LPS as gyro filter

Replaces RC+FIR

* Make FKF code conditional

* Add USE_FIR_FILTER_DENOISE

Denoise is almost useless anyway ...
This commit is contained in:
Petr Ledvina 2018-03-14 13:45:20 +01:00 • committed by Michael Keller
parent 35f5e5025f
commit 141d6ec30a
8 changed files with 129 additions and 43 deletions
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5
src/main/sensors/gyro.h
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@ -69,7 +69,7 @@ typedef struct gyroConfig_s {
bool gyro_high_fsr;
bool gyro_use_32khz;
uint8_t gyro_to_use;
uint16_t gyro_soft_lpf_hz_2;
uint16_t gyro_soft_lpf2_hz;
uint16_t gyro_soft_notch_hz_1;
uint16_t gyro_soft_notch_cutoff_1;
uint16_t gyro_soft_notch_hz_2;
@ -79,8 +79,11 @@ typedef struct gyroConfig_s {
uint16_t gyro_filter_r;
uint16_t gyro_filter_p;
int16_t gyro_offset_yaw;
uint8_t gyro_soft_lpf2_order;
} gyroConfig_t;
#define GYRO_LPF2_ORDER_MAX 6
PG_DECLARE(gyroConfig_t, gyroConfig);
bool gyroInit(void);