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Code Issues Wiki Activity

Moved further gyro parameters into gyroConfig_t

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This commit is contained in:
Martin Budden 2016-11-24 07:24:17 +00:00
parent 0f082201f4
commit 78e6130aab
10 changed files with 41 additions and 50 deletions
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28
src/main/sensors/gyro.c
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@ -44,7 +44,6 @@ float gyroADCf[XYZ_AXIS_COUNT];
static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
static const gyroConfig_t *gyroConfig;
static float gyroSoftNotchQ1, gyroSoftNotchQ2;
static uint16_t calibratingG = 0;
static filterApplyFnPtr softLpfFilterApplyFn;
@ -54,18 +53,7 @@ static void *notchFilter1[3];
static filterApplyFnPtr notchFilter2ApplyFn;
static void *notchFilter2[3];
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse)
{
gyroConfig = gyroConfigToUse;
if (gyroConfig->gyro_soft_notch_hz_1) {
gyroSoftNotchQ1 = filterGetNotchQ(gyroConfig->gyro_soft_notch_hz_1, gyroConfig->gyro_soft_notch_cutoff_1);
}
if (gyroConfig->gyro_soft_notch_hz_2) {
gyroSoftNotchQ2 = filterGetNotchQ(gyroConfig->gyro_soft_notch_hz_2, gyroConfig->gyro_soft_notch_cutoff_2);
}
}
void gyroInit(void)
void gyroInit(const gyroConfig_t *gyroConfigToUse)
{
static biquadFilter_t gyroFilterLPF[XYZ_AXIS_COUNT];
static pt1Filter_t gyroFilterPt1[XYZ_AXIS_COUNT];
@ -73,6 +61,8 @@ void gyroInit(void)
static biquadFilter_t gyroFilterNotch_1[XYZ_AXIS_COUNT];
static biquadFilter_t gyroFilterNotch_2[XYZ_AXIS_COUNT];
gyroConfig = gyroConfigToUse;
softLpfFilterApplyFn = nullFilterApply;
notchFilter1ApplyFn = nullFilterApply;
notchFilter2ApplyFn = nullFilterApply;
@ -82,36 +72,38 @@ void gyroInit(void)
softLpfFilterApplyFn = (filterApplyFnPtr)biquadFilterApply;
for (int axis = 0; axis < 3; axis++) {
softLpfFilter[axis] = &gyroFilterLPF[axis];
biquadFilterInitLPF(softLpfFilter[axis], gyroSoftLpfHz, gyro.targetLooptime);
biquadFilterInitLPF(softLpfFilter[axis], gyroConfig->gyro_soft_lpf_hz, gyro.targetLooptime);
}
} else if (gyroConfig->gyro_soft_lpf_type == FILTER_BIQUAD) {
softLpfFilterApplyFn = (filterApplyFnPtr)pt1FilterApply;
const float gyroDt = (float) gyro.targetLooptime * 0.000001f;
for (int axis = 0; axis < 3; axis++) {
softLpfFilter[axis] = &gyroFilterPt1[axis];
pt1FilterInit(softLpfFilter[axis], gyroSoftLpfHz, gyroDt);
pt1FilterInit(softLpfFilter[axis], gyroConfig->gyro_soft_lpf_hz, gyroDt);
}
} else {
softLpfFilterApplyFn = (filterApplyFnPtr)firFilterDenoiseUpdate;
for (int axis = 0; axis < 3; axis++) {
softLpfFilter[axis] = &gyroDenoiseState[axis];
firFilterDenoiseInit(softLpfFilter[axis], gyroSoftLpfHz, gyro.targetLooptime);
firFilterDenoiseInit(softLpfFilter[axis], gyroConfig->gyro_soft_lpf_hz, gyro.targetLooptime);
}
}
}
if (gyroConfig->gyro_soft_notch_hz_1) {
notchFilter1ApplyFn = (filterApplyFnPtr)biquadFilterApply;
const float gyroSoftNotchQ1 = filterGetNotchQ(gyroConfig->gyro_soft_notch_hz_1, gyroConfig->gyro_soft_notch_cutoff_1);
for (int axis = 0; axis < 3; axis++) {
notchFilter1[axis] = &gyroFilterNotch_1[axis];
biquadFilterInit(notchFilter1[axis], gyroSoftNotchHz1, gyro.targetLooptime, gyroSoftNotchQ1, FILTER_NOTCH);
biquadFilterInit(notchFilter1[axis], gyroConfig->gyro_soft_notch_hz_1, gyro.targetLooptime, gyroSoftNotchQ1, FILTER_NOTCH);
}
}
if (gyroConfig->gyro_soft_notch_hz_2) {
notchFilter2ApplyFn = (filterApplyFnPtr)biquadFilterApply;
const float gyroSoftNotchQ2 = filterGetNotchQ(gyroConfig->gyro_soft_notch_hz_2, gyroConfig->gyro_soft_notch_cutoff_2);
for (int axis = 0; axis < 3; axis++) {
notchFilter2[axis] = &gyroFilterNotch_2[axis];
biquadFilterInit(notchFilter2[axis], gyroSoftNotchHz2, gyro.targetLooptime, gyroSoftNotchQ2, FILTER_NOTCH);
biquadFilterInit(notchFilter2[axis], gyroConfig->gyro_soft_notch_hz_2, gyro.targetLooptime, gyroSoftNotchQ2, FILTER_NOTCH);
}
}
}