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Code Issues Wiki Activity

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/sensors/gyro.c
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@ -43,7 +43,7 @@ float gyroADCf[XYZ_AXIS_COUNT];
static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
static const gyroConfig_t *gyroConfig;
static biquad_t gyroFilterState[XYZ_AXIS_COUNT];
static biquadFilter_t gyroFilter[XYZ_AXIS_COUNT];
static uint8_t gyroSoftLpfHz;
static uint16_t calibratingG = 0;
@ -57,7 +57,7 @@ void gyroInit(void)
{
if (gyroSoftLpfHz && gyro.targetLooptime) { // Initialisation needs to happen once samplingrate is known
for (int axis = 0; axis < 3; axis++) {
BiQuadNewLpf(gyroSoftLpfHz, &gyroFilterState[axis], gyro.targetLooptime);
biquadFilterInit(&gyroFilter[axis], gyroSoftLpfHz, gyro.targetLooptime);
}
}
}
@ -157,7 +157,7 @@ void gyroUpdate(void)
if (gyroSoftLpfHz) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADCf[axis] = applyBiQuadFilter((float)gyroADC[axis], &gyroFilterState[axis]);
gyroADCf[axis] = biquadFilterApply(&gyroFilter[axis], (float)gyroADC[axis]);
gyroADC[axis] = lrintf(gyroADCf[axis]);
}
} else {