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Code Issues Wiki Activity

Moved gyro filter settings into gyroConfig

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This commit is contained in:
Martin Budden 2016-11-23 19:04:14 +00:00
parent fa4d04b5a7
commit 2c7d06a94e
9 changed files with 59 additions and 81 deletions
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24
src/main/sensors/gyro.c
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@ -57,25 +57,19 @@ static void *notchFilter1[3];
static filterApplyFnPtr notchFilter2ApplyFn;
static void *notchFilter2[3];
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse,
uint8_t gyro_soft_lpf_hz,
uint16_t gyro_soft_notch_hz_1,
uint16_t gyro_soft_notch_cutoff_1,
uint16_t gyro_soft_notch_hz_2,
uint16_t gyro_soft_notch_cutoff_2,
uint8_t gyro_soft_lpf_type)
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse)
{
gyroConfig = gyroConfigToUse;
gyroSoftLpfHz = gyro_soft_lpf_hz;
gyroSoftNotchHz1 = gyro_soft_notch_hz_1;
if (gyro_soft_notch_hz_1) {
gyroSoftNotchQ1 = filterGetNotchQ(gyro_soft_notch_hz_1, gyro_soft_notch_cutoff_1);
gyroSoftLpfHz = gyroConfig->gyro_soft_lpf_hz;
gyroSoftNotchHz1 = gyroConfig->gyro_soft_notch_hz_1;
if (gyroConfig->gyro_soft_notch_hz_1) {
gyroSoftNotchQ1 = filterGetNotchQ(gyroConfig->gyro_soft_notch_hz_1, gyroConfig->gyro_soft_notch_cutoff_1);
}
gyroSoftNotchHz2 = gyro_soft_notch_hz_2;
if (gyro_soft_notch_hz_2) {
gyroSoftNotchQ2 = filterGetNotchQ(gyro_soft_notch_hz_2, gyro_soft_notch_cutoff_2);
gyroSoftNotchHz2 = gyroConfig->gyro_soft_notch_hz_2;
if (gyroConfig->gyro_soft_notch_hz_2) {
gyroSoftNotchQ2 = filterGetNotchQ(gyroConfig->gyro_soft_notch_hz_2, gyroConfig->gyro_soft_notch_cutoff_2);
}
gyroSoftLpfType = gyro_soft_lpf_type;
gyroSoftLpfType = gyroConfig->gyro_soft_lpf_type;
}
void gyroInit(void)