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Biquad RC+FIR2: Allow user to specify cutoff Hz parameter directly

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* Generate 'k' per the code for the PT1
* Adjust function prototypes/functions to accept f_cut/dT where applicable
* Adjust gyro configuration, parameter group, interface settings to suit
This commit is contained in:
AJ Christensen 2018-02-10 16:39:05 +13:00
parent 1c3a3229ad
commit 4dd65a2876
5 changed files with 17 additions and 12 deletions
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4
src/main/interface/settings.c
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@ -345,7 +345,9 @@ const clivalue_t valueTable[] = {
{ "gyro_notch1_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_1) },
{ "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2) },
{ "gyro_notch2_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_2) },
#if defined(USE_GYRO_FAST_KALMAN) || defined(USE_GYRO_BIQUAD_RC_FIR2)
#if defined(USE_GYRO_BIQUAD_RC_FIR2)
{ "gyro_stage2_lowpass_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_lpf_hz_2) },
#elif defined(USE_GYRO_FAST_KALMAN)
{ "gyro_filter_q", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_q) },
{ "gyro_filter_r", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_r) },
{ "gyro_filter_p", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_p) },