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Hans Christian Olaussen 2021-04-03 20:54:28 +02:00
parent 472b1c3dd0
commit 242d5df827
2 changed files with 16 additions and 16 deletions
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4
src/main/sensors/gyro.c
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@ -134,8 +134,8 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
gyroConfig->dyn_notch_min_hz = 150; gyroConfig->dyn_notch_min_hz = 150;
gyroConfig->gyro_filter_debug_axis = FD_ROLL; gyroConfig->gyro_filter_debug_axis = FD_ROLL;
gyroConfig->dyn_lpf_curve_expo = 5; gyroConfig->dyn_lpf_curve_expo = 5;
gyroConfig->simplified_gyro_filter = false; gyroConfig->simplified_gyro_filter = false;
gyroConfig->simplified_gyro_filter_multiplier = SIMPLIFIED_TUNING_DEFAULT; gyroConfig->simplified_gyro_filter_multiplier = SIMPLIFIED_TUNING_DEFAULT;
} }
#ifdef USE_GYRO_DATA_ANALYSE #ifdef USE_GYRO_DATA_ANALYSE

28
src/main/sensors/gyro.h
View file

@ -166,11 +166,11 @@ enum {
}; };
typedef struct gyroConfig_s { typedef struct gyroConfig_s {
uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default. uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
uint8_t gyro_hardware_lpf; // gyro DLPF setting uint8_t gyro_hardware_lpf; // gyro DLPF setting
uint8_t gyro_high_fsr; uint8_t gyro_high_fsr;
uint8_t gyro_to_use; uint8_t gyro_to_use;
uint16_t gyro_lowpass_hz; uint16_t gyro_lowpass_hz;
uint16_t gyro_lowpass2_hz; uint16_t gyro_lowpass2_hz;
@ -179,15 +179,15 @@ typedef struct gyroConfig_s {
uint16_t gyro_soft_notch_cutoff_1; uint16_t gyro_soft_notch_cutoff_1;
uint16_t gyro_soft_notch_hz_2; uint16_t gyro_soft_notch_hz_2;
uint16_t gyro_soft_notch_cutoff_2; uint16_t gyro_soft_notch_cutoff_2;
int16_t gyro_offset_yaw; int16_t gyro_offset_yaw;
uint8_t checkOverflow; uint8_t checkOverflow;
// Lowpass primary/secondary // Lowpass primary/secondary
uint8_t gyro_lowpass_type; uint8_t gyro_lowpass_type;
uint8_t gyro_lowpass2_type; uint8_t gyro_lowpass2_type;
uint8_t yaw_spin_recovery; uint8_t yaw_spin_recovery;
int16_t yaw_spin_threshold; int16_t yaw_spin_threshold;
uint16_t gyroCalibrationDuration; // Gyro calibration duration in 1/100 second uint16_t gyroCalibrationDuration; // Gyro calibration duration in 1/100 second
@ -195,16 +195,16 @@ typedef struct gyroConfig_s {
uint16_t dyn_lpf_gyro_max_hz; uint16_t dyn_lpf_gyro_max_hz;
uint16_t dyn_notch_max_hz; uint16_t dyn_notch_max_hz;
uint8_t dyn_notch_count; uint8_t dyn_notch_count;
uint16_t dyn_notch_bandwidth_hz; uint16_t dyn_notch_bandwidth_hz;
uint16_t dyn_notch_min_hz; uint16_t dyn_notch_min_hz;
uint8_t gyro_filter_debug_axis; uint8_t gyro_filter_debug_axis;
uint8_t gyrosDetected; // What gyros should detection be attempted for on startup. Automatically set on first startup. uint8_t gyrosDetected; // What gyros should detection be attempted for on startup. Automatically set on first startup.
uint8_t dyn_lpf_curve_expo; // set the curve for dynamic gyro lowpass filter uint8_t dyn_lpf_curve_expo; // set the curve for dynamic gyro lowpass filter
uint8_t simplified_gyro_filter; uint8_t simplified_gyro_filter;
uint8_t simplified_gyro_filter_multiplier; uint8_t simplified_gyro_filter_multiplier;
} gyroConfig_t; } gyroConfig_t;
PG_DECLARE(gyroConfig_t, gyroConfig); PG_DECLARE(gyroConfig_t, gyroConfig);