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Remove lowpass.c // replace by pt1

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unittests fix
This commit is contained in:
borisbstyle 2016-02-09 23:23:33 +01:00
parent 19d1a92c4f
commit 83d8a8441c
11 changed files with 40 additions and 338 deletions
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9
src/main/flight/mixer.c
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@ -28,6 +28,7 @@
#include "common/axis.h"
#include "common/maths.h"
#include "common/filter.h"
#include "drivers/system.h"
#include "drivers/pwm_output.h"
@ -35,6 +36,7 @@
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/system.h"
#include "drivers/gyro_sync.h"
#include "rx/rx.h"
@ -50,12 +52,12 @@
#include "flight/failsafe.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/lowpass.h"
#include "config/runtime_config.h"
#include "config/config.h"
uint8_t motorCount;
extern float dT;
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
@ -77,7 +79,6 @@ int16_t servo[MAX_SUPPORTED_SERVOS];
static int useServo;
STATIC_UNIT_TESTED uint8_t servoCount;
static servoParam_t *servoConf;
static lowpass_t lowpassFilters[MAX_SUPPORTED_SERVOS];
#endif
static const motorMixer_t mixerQuadX[] = {
@ -923,6 +924,7 @@ void filterServos(void)
{
#ifdef USE_SERVOS
int16_t servoIdx;
static filterStatePt1_t servoFitlerState[MAX_SUPPORTED_SERVOS];
#if defined(MIXER_DEBUG)
uint32_t startTime = micros();
@ -930,8 +932,7 @@ void filterServos(void)
if (mixerConfig->servo_lowpass_enable) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
servo[servoIdx] = (int16_t)lowpassFixed(&lowpassFilters[servoIdx], servo[servoIdx], mixerConfig->servo_lowpass_freq);
servo[servoIdx] = filterApplyPt1(servo[servoIdx], &servoFitlerState[servoIdx], mixerConfig->servo_lowpass_freq, dT);
// Sanity check
servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
}