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Rework Acc filtering

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This commit is contained in:
borisbstyle 2016-02-17 17:37:01 +01:00
parent 974274b748
commit 57a3e59a38
8 changed files with 48 additions and 46 deletions
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4
src/main/flight/imu.h
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@ -21,7 +21,6 @@ extern int16_t throttleAngleCorrection;
extern uint32_t accTimeSum;
extern int accSumCount;
extern float accVelScale;
extern int16_t accSmooth[XYZ_AXIS_COUNT];
extern int32_t accSum[XYZ_AXIS_COUNT];
#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
@ -74,7 +73,6 @@ void imuConfigure(
imuRuntimeConfig_t *initialImuRuntimeConfig,
pidProfile_t *initialPidProfile,
accDeadband_t *initialAccDeadband,
float accz_lpf_cutoff,
uint16_t throttle_correction_angle
);
@ -84,7 +82,7 @@ void imuUpdateAccelerometer(rollAndPitchTrims_t *accelerometerTrims);
void imuUpdateGyroAndAttitude(void);
float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_hz);
int16_t imuCalculateHeading(t_fp_vector *vec);