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Change gyro dynamic lpf throttle update to use the active gyro selection
Instead of the configuration value.
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parent
1db881f595
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5b22ed3d15
1 changed files with 4 additions and 4 deletions
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@ -1275,10 +1275,10 @@ void dynLpfGyroUpdate(float throttle)
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const float gyroDt = gyro.targetLooptime * 1e-6f;
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for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
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#ifdef USE_MULTI_GYRO
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if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_1 || gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH) {
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if (gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
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pt1FilterUpdateCutoff(&gyroSensor1.lowpassFilter[axis].pt1FilterState, pt1FilterGain(cutoffFreq, gyroDt));
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}
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if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2 || gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH) {
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if (gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
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pt1FilterUpdateCutoff(&gyroSensor2.lowpassFilter[axis].pt1FilterState, pt1FilterGain(cutoffFreq, gyroDt));
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}
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#else
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@ -1289,10 +1289,10 @@ void dynLpfGyroUpdate(float throttle)
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DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq);
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for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
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#ifdef USE_MULTI_GYRO
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if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_1 || gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH) {
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if (gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
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biquadFilterUpdateLPF(&gyroSensor1.lowpassFilter[axis].biquadFilterState, cutoffFreq, gyro.targetLooptime);
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}
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if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2 || gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH) {
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if (gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
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biquadFilterUpdateLPF(&gyroSensor2.lowpassFilter[axis].biquadFilterState, cutoffFreq, gyro.targetLooptime);
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}
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#else
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