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Merge pull request #684 from rav-rav/notch

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Smoother filtering (additional notch filter)
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borisbstyle 2016-07-16 10:30:47 +02:00 • committed by GitHub
commit 4fff6c89bf
12 changed files with 71 additions and 24 deletions
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2
src/main/sensors/acceleration.c
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@ -190,7 +190,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
if (!accFilterInitialised) {
if (accTargetLooptime) { /* Initialisation needs to happen once sample rate is known */
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInit(&accFilter[axis], accLpfCutHz, accTargetLooptime);
biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, accTargetLooptime);
}
accFilterInitialised = true;
}