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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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2
src/main/sensors/acceleration.c
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@ -192,7 +192,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
if (!accFilterInitialised) {
if (accTargetLooptime) { /* Initialisation needs to happen once sample rate is known */
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInit(&accFilter[axis], accLpfCutHz, accTargetLooptime);
biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, accTargetLooptime);
}
accFilterInitialised = true;
}