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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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20
src/main/mw.c
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@ -119,7 +119,8 @@ extern uint32_t currentTime;
extern uint8_t PIDweight[3];
extern bool antiWindupProtection;
static filterStatePt1_t filteredCycleTimeState;
uint16_t filteredCycleTime;
static bool isRXDataNew;
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
@ -177,21 +178,10 @@ void filterRc(void){
static int16_t deltaRC[4] = { 0, 0, 0, 0 };
static int16_t factor, rcInterpolationFactor;
uint16_t rxRefreshRate;
static biquad_t filteredCycleTimeState;
static bool filterIsSet;
uint16_t filteredCycleTime;
// Set RC refresh rate for sampling and channels to filter
initRxRefreshRate(&rxRefreshRate);
/* Initialize cycletime filter */
if (!filterIsSet) {
BiQuadNewLpf(0.5f, &filteredCycleTimeState, targetLooptime);
filterIsSet = true;
}
filteredCycleTime = applyBiQuadFilter((float) cycleTime, &filteredCycleTimeState);
rcInterpolationFactor = rxRefreshRate / filteredCycleTime + 1;
if (isRXDataNew) {
@ -647,6 +637,12 @@ void taskMainPidLoop(void)
cycleTime = getTaskDeltaTime(TASK_SELF);
dT = (float)targetLooptime * 0.000001f;
// Calculate average cycle time and average jitter
filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 0.5f, dT);
debug[0] = cycleTime;
debug[1] = cycleTime - filteredCycleTime;
imuUpdateGyroAndAttitude();
annexCode();