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make the accZ lpf used for althold configurable
set the variable accz_lpf_cutoff to the desired cutoff frequency this can help to make althold smoother on copters with lots of vibrations Conflicts: src/cli.c src/config.c src/imu.c src/mw.h
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5 changed files with 13 additions and 5 deletions
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@ -61,6 +61,7 @@ int32_t errorAltitudeI = 0;
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int32_t vario = 0; // variometer in cm/s
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float throttleAngleScale;
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float fc_acc;
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int32_t BaroPID = 0;
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@ -103,6 +104,11 @@ void calculateThrottleAngleScale(uint16_t throttle_correction_angle)
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throttleAngleScale = (1800.0f / M_PI) * (900.0f / throttle_correction_angle);
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}
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void calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff)
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{
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fc_acc = 0.5f / (M_PI * accz_lpf_cutoff); // calculate RC time constant used in the accZ lpf
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}
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void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerConfiguration)
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{
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static int16_t gyroYawSmooth = 0;
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@ -207,9 +213,6 @@ int32_t applyDeadband(int32_t value, int32_t deadband)
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return value;
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}
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#define F_CUT_ACCZ 10.0f // 10Hz should still be fast enough
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static const float fc_acc = 0.5f / (M_PI * F_CUT_ACCZ);
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// rotate acc into Earth frame and calculate acceleration in it
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void acc_calc(uint32_t deltaT)
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{
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