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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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3
src/main/io/serial_cli.c
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@ -451,6 +451,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
"MIXER",
"AIRMODE",
"PIDLOOP",
"NOTCH",
};
#ifdef OSD
static const char * const lookupTableOsdType[] = {
@ -696,6 +697,8 @@ const clivalue_t valueTable[] = {
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_sync_denom, .config.minmax = { 1, 8 } },
{ "gyro_lowpass", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_soft_lpf_hz, .config.minmax = { 0, 255 } },
{ "gyro_notch_hz", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_soft_notch_hz, .config.minmax = { 0, 500 } },
{ "gyro_notch_q", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_soft_notch_q, .config.minmax = { 1, 100 } },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, .config.minmax = { 0, 50000 } },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, .config.minmax = { 0, 50000 } },