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Made filter naming, parameters and state consistent

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This commit is contained in:
Martin Budden 2016-06-29 15:02:29 +01:00
parent ebbaeb0976
commit 74d20a276f
8 changed files with 93 additions and 83 deletions
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6
src/main/flight/mixer.c
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@ -946,7 +946,7 @@ void filterServos(void)
#ifdef USE_SERVOS
static int16_t servoIdx;
static bool servoFilterIsSet;
static biquad_t servoFilterState[MAX_SUPPORTED_SERVOS];
static biquadFilter_t servoFilter[MAX_SUPPORTED_SERVOS];
#if defined(MIXER_DEBUG)
uint32_t startTime = micros();
@ -955,11 +955,11 @@ void filterServos(void)
if (mixerConfig->servo_lowpass_enable) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
if (!servoFilterIsSet) {
BiQuadNewLpf(mixerConfig->servo_lowpass_freq, &servoFilterState[servoIdx], targetPidLooptime);
biquadFilterInit(&servoFilter[servoIdx], mixerConfig->servo_lowpass_freq, targetPidLooptime);
servoFilterIsSet = true;
}
servo[servoIdx] = lrintf(applyBiQuadFilter((float) servo[servoIdx], &servoFilterState[servoIdx]));
servo[servoIdx] = lrintf(biquadFilterApply(&servoFilter[servoIdx], (float)servo[servoIdx]));
// Sanity check
servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
}