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Full Filter Rework FIR replaced by BiQuad

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borisbstyle 2016-01-12 01:47:09 +01:00
parent 7ef593c54f
commit 56098a63ca
6 changed files with 96 additions and 61 deletions
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18
src/main/sensors/gyro.c
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@ -38,17 +38,20 @@ int16_t gyroADC[XYZ_AXIS_COUNT];
int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
static gyroConfig_t *gyroConfig;
static int8_t * gyroFIRTable = 0L;
static int16_t gyroFIRState[3][FILTER_TAPS];
static biquad_t gyroBiQuadState[3];
static bool useSoftFilter;
gyro_t gyro; // gyro access functions
sensor_align_e gyroAlign = 0;
void useGyroConfig(gyroConfig_t *gyroConfigToUse, int8_t * filterTableToUse)
void useGyroConfig(gyroConfig_t *gyroConfigToUse, uint8_t useFilter)
{
int axis;
gyroConfig = gyroConfigToUse;
gyroFIRTable = filterTableToUse;
if (useFilter) {
useSoftFilter = true;
for (axis = 0; axis < 3; axis++) setBiQuadCoefficients(GYRO_FILTER, &gyroBiQuadState[axis]);
}
}
void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
@ -126,9 +129,10 @@ void gyroUpdate(void)
return;
}
if (gyroFIRTable) {
if (useSoftFilter) {
int axis;
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) filterApplyFIR(&gyroADC[axis], gyroFIRState[axis], gyroFIRTable);
//for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) filterApplyFIR(&gyroADC[axis], gyroFIRState[axis], gyroFIRTable);
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) gyroADC[axis] = applyBiQuadFilter((float) gyroADC[axis], &gyroBiQuadState[axis]);
}
alignSensors(gyroADC, gyroADC, gyroAlign);