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Code Issues Wiki Activity

Static FIR filter

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borisbstyle 2015-09-19 00:43:50 +02:00
parent 7a2762dbf6
commit 49bc46bc37
4 changed files with 1 additions and 86 deletions
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21
src/main/mw.c
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@ -688,21 +688,6 @@ void processRx(void)
}
// Gyro Low Pass
void filterGyro(void) {
int axis;
static float dTGyro;
static filterStatePt1_t gyroADCState[XYZ_AXIS_COUNT];
if (!dTGyro) {
dTGyro = (float)targetLooptime * 0.000001f;
}
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz, dTGyro);
}
}
void filterRc(void){
static int16_t lastCommand[4] = { 0, 0, 0, 0 };
static int16_t deltaRC[4] = { 0, 0, 0, 0 };
@ -812,11 +797,7 @@ void loop(void)
dT = (float)cycleTime * 0.000001f;
if (currentProfile->pidProfile.gyro_fir_filter_enable) {
filterApply7TapFIR(gyroADC);
else if (currentProfile->pidProfile.gyro_cut_hz) {
filterGyro();
}
filterApply7TapFIR(gyroADC);
if (masterConfig.rcSmoothing) {
filterRc();