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Add more filter freedom

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This commit is contained in:
borisbstyle 2016-08-03 11:51:12 +02:00
parent ca703b1ff1
commit 771feb8fde
8 changed files with 66 additions and 20 deletions
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4
src/main/sensors/gyro.c
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@ -69,7 +69,7 @@ void gyroInit(void)
if (gyroSoftLpfHz && gyro.targetLooptime) { // Initialisation needs to happen once samplingrate is known
for (int axis = 0; axis < 3; axis++) {
biquadFilterInit(&gyroFilterNotch[axis], gyroSoftNotchHz, gyro.targetLooptime, ((float) gyroSoftNotchQ) / 10, FILTER_NOTCH);
if (gyroSoftLpfType == GYRO_FILTER_BIQUAD)
if (gyroSoftLpfType == FILTER_BIQUAD)
biquadFilterInitLPF(&gyroFilterLPF[axis], gyroSoftLpfHz, gyro.targetLooptime);
else
gyroDt = gyro.targetLooptime / 1000.0f;
@ -182,7 +182,7 @@ void gyroUpdate(void)
debug[axis*2 + 1] = lrintf(sample);
}
if (gyroSoftLpfType == GYRO_FILTER_BIQUAD) {
if (gyroSoftLpfType == FILTER_BIQUAD) {
gyroADCf[axis] = biquadFilterApply(&gyroFilterLPF[axis], sample);
} else {
gyroADCf[axis] = pt1FilterApply4(&gyroFilterPt1[axis], sample, gyroSoftLpfHz, gyroDt);