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Change gyro dynamic lpf throttle update to use the active gyro selection

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Instead of the configuration value.
This commit is contained in:
Bruce Luckcuck 2019-04-26 20:05:41 -04:00
parent 1db881f595
commit 5b22ed3d15
1 changed files with 4 additions and 4 deletions
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8
src/main/sensors/gyro.c
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@ -1275,10 +1275,10 @@ void dynLpfGyroUpdate(float throttle)
const float gyroDt = gyro.targetLooptime * 1e-6f; const float gyroDt = gyro.targetLooptime * 1e-6f;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
#ifdef USE_MULTI_GYRO #ifdef USE_MULTI_GYRO
if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_1 || gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH) { if (gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
pt1FilterUpdateCutoff(&gyroSensor1.lowpassFilter[axis].pt1FilterState, pt1FilterGain(cutoffFreq, gyroDt)); pt1FilterUpdateCutoff(&gyroSensor1.lowpassFilter[axis].pt1FilterState, pt1FilterGain(cutoffFreq, gyroDt));
} }
if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2 || gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH) { if (gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
pt1FilterUpdateCutoff(&gyroSensor2.lowpassFilter[axis].pt1FilterState, pt1FilterGain(cutoffFreq, gyroDt)); pt1FilterUpdateCutoff(&gyroSensor2.lowpassFilter[axis].pt1FilterState, pt1FilterGain(cutoffFreq, gyroDt));
} }
#else #else
@ -1289,10 +1289,10 @@ void dynLpfGyroUpdate(float throttle)
DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq); DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
#ifdef USE_MULTI_GYRO #ifdef USE_MULTI_GYRO
if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_1 || gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH) { if (gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
biquadFilterUpdateLPF(&gyroSensor1.lowpassFilter[axis].biquadFilterState, cutoffFreq, gyro.targetLooptime); biquadFilterUpdateLPF(&gyroSensor1.lowpassFilter[axis].biquadFilterState, cutoffFreq, gyro.targetLooptime);
} }
if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2 || gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH) { if (gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
biquadFilterUpdateLPF(&gyroSensor2.lowpassFilter[axis].biquadFilterState, cutoffFreq, gyro.targetLooptime); biquadFilterUpdateLPF(&gyroSensor2.lowpassFilter[axis].biquadFilterState, cutoffFreq, gyro.targetLooptime);
} }
#else #else