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add notch filter

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configurable with gyro_notch_hz and gyro_notch_q
This commit is contained in:
rav-rav 2016-07-03 23:54:01 +02:00
parent 90d8c03261
commit 86626acbdf
12 changed files with 71 additions and 24 deletions
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4
src/main/config/config.c
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@ -455,6 +455,8 @@ static void resetConf(void)
masterConfig.gyro_sync_denom = 4;
#endif
masterConfig.gyro_soft_lpf_hz = 100;
masterConfig.gyro_soft_notch_hz = 0;
masterConfig.gyro_soft_notch_q = 5;
masterConfig.pid_process_denom = 2;
@ -715,7 +717,7 @@ void activateConfig(void)
&currentProfile->pidProfile
);
gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz);
gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz, masterConfig.gyro_soft_notch_hz, masterConfig.gyro_soft_notch_q);
#ifdef TELEMETRY
telemetryUseConfig(&masterConfig.telemetryConfig);