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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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16
src/main/sensors/gyro.h
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@ -41,16 +41,16 @@ extern int32_t gyroADC[XYZ_AXIS_COUNT];
extern float gyroADCf[XYZ_AXIS_COUNT];
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_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;
} gyroConfig_t;
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);
void gyroSetCalibrationCycles(void);
void gyroInit(void);
void gyroUpdate(void);