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Code Issues Wiki Activity

Check if notch cutoff is zero in filter init

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This commit is contained in:
Martin Budden 2017-08-01 08:52:05 +01:00
parent 869dd1f00e
commit 6e52b82e1c
1 changed files with 2 additions and 2 deletions
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4
src/main/sensors/gyro.c
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@ -415,7 +415,7 @@ void gyroInitFilterNotch1(gyroSensor_t *gyroSensor, uint16_t notchHz, uint16_t n
notchHz = calculateNyquistAdjustedNotchHz(notchHz, notchCutoffHz);
if (notchHz) {
if (notchHz != 0 && notchCutoffHz != 0) {
gyroSensor->notchFilter1ApplyFn = (filterApplyFnPtr)biquadFilterApply;
const float notchQ = filterGetNotchQ(notchHz, notchCutoffHz);
for (int axis = 0; axis < 3; axis++) {
@ -430,7 +430,7 @@ void gyroInitFilterNotch2(gyroSensor_t *gyroSensor, uint16_t notchHz, uint16_t n
notchHz = calculateNyquistAdjustedNotchHz(notchHz, notchCutoffHz);
if (notchHz) {
if (notchHz != 0 && notchCutoffHz != 0) {
gyroSensor->notchFilter2ApplyFn = (filterApplyFnPtr)biquadFilterApply;
const float notchQ = filterGetNotchQ(notchHz, notchCutoffHz);
for (int axis = 0; axis < 3; axis++) {