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Merge pull request #4819 from etracer65/slew_filter_all_axis

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Changed slew filter to work for all axis instead of just yaw.
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Michael Keller 2017-12-24 02:05:02 +13:00 • committed by GitHub
commit 3957666a8f
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1 changed files with 4 additions and 2 deletions
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6
src/main/sensors/gyro.c
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@ -676,11 +676,13 @@ static FAST_CODE void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t curren
if (isGyroSensorCalibrationComplete(gyroSensor)) { if (isGyroSensorCalibrationComplete(gyroSensor)) {
// move 16-bit gyro data into 32-bit variables to avoid overflows in calculations // move 16-bit gyro data into 32-bit variables to avoid overflows in calculations
gyroSensor->gyroDev.gyroADC[X] = gyroSensor->gyroDev.gyroADCRaw[X] - gyroSensor->gyroDev.gyroZero[X];
gyroSensor->gyroDev.gyroADC[Y] = gyroSensor->gyroDev.gyroADCRaw[Y] - gyroSensor->gyroDev.gyroZero[Y];
#if defined(USE_GYRO_SLEW_LIMITER) #if defined(USE_GYRO_SLEW_LIMITER)
gyroSensor->gyroDev.gyroADC[X] = gyroSlewLimiter(gyroSensor, X) - gyroSensor->gyroDev.gyroZero[X];
gyroSensor->gyroDev.gyroADC[Y] = gyroSlewLimiter(gyroSensor, Y) - gyroSensor->gyroDev.gyroZero[Y];
gyroSensor->gyroDev.gyroADC[Z] = gyroSlewLimiter(gyroSensor, Z) - gyroSensor->gyroDev.gyroZero[Z]; gyroSensor->gyroDev.gyroADC[Z] = gyroSlewLimiter(gyroSensor, Z) - gyroSensor->gyroDev.gyroZero[Z];
#else #else
gyroSensor->gyroDev.gyroADC[X] = gyroSensor->gyroDev.gyroADCRaw[X] - gyroSensor->gyroDev.gyroZero[X];
gyroSensor->gyroDev.gyroADC[Y] = gyroSensor->gyroDev.gyroADCRaw[Y] - gyroSensor->gyroDev.gyroZero[Y];
gyroSensor->gyroDev.gyroADC[Z] = gyroSensor->gyroDev.gyroADCRaw[Z] - gyroSensor->gyroDev.gyroZero[Z]; gyroSensor->gyroDev.gyroADC[Z] = gyroSensor->gyroDev.gyroADCRaw[Z] - gyroSensor->gyroDev.gyroZero[Z];
#endif #endif