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Fixed notch Q calculation to be dimensionless as it should (#5529)

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* Fixed notch Q calculation to be dimensionless as it should

* Get rid of one division and leverage multiply-accumulate instr
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Andrey Mironov 2018-03-24 20:27:39 +03:00 • committed by GitHub
parent 0c7ae49464
commit 172642383d
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3 changed files with 4 additions and 10 deletions
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src/main/sensors/gyroanalyse.c
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@ -281,7 +281,7 @@ void gyroDataAnalyseUpdate(biquadFilter_t *notchFilterDyn)
// 7us
// calculate new filter coefficients
float cutoffFreq = constrain(fftResult[axis].centerFreq - DYN_NOTCH_WIDTH, DYN_NOTCH_MIN_CUTOFF, DYN_NOTCH_MAX_CUTOFF);
float notchQ = filterGetNotchQApprox(fftResult[axis].centerFreq, cutoffFreq);
float notchQ = filterGetNotchQ(fftResult[axis].centerFreq, cutoffFreq);
biquadFilterUpdate(&notchFilterDyn[axis], fftResult[axis].centerFreq, gyro.targetLooptime, notchQ, FILTER_NOTCH);
DEBUG_SET(DEBUG_FFT_TIME, 1, micros() - startTime);