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Fix ordering of gyro filtering and overflow/yaw-spin logic

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Since the gyro overflow and yaw-spin logic uses filtered gyro data they need to be after the filter application.

Currently the logic is before causing it to operate on one sample old data. This won't prevent the logic from working and it's not a critical fix, but it's better to have the checks after the filtering.
This commit is contained in:
Bruce Luckcuck 2018-10-01 10:27:48 -04:00
parent 8980ba1065
commit 8e0128a2b2
1 changed files with 6 additions and 6 deletions
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12
src/main/sensors/gyro.c
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@ -949,6 +949,12 @@ static FAST_CODE FAST_CODE_NOINLINE void gyroUpdateSensor(gyroSensor_t *gyroSens
return;
}
if (gyroDebugMode == DEBUG_NONE) {
filterGyro(gyroSensor);
} else {
filterGyroDebug(gyroSensor);
}
#ifdef USE_GYRO_OVERFLOW_CHECK
if (gyroConfig()->checkOverflow && !gyroHasOverflowProtection) {
checkForOverflow(gyroSensor, currentTimeUs);
@ -961,12 +967,6 @@ static FAST_CODE FAST_CODE_NOINLINE void gyroUpdateSensor(gyroSensor_t *gyroSens
}
#endif
if (gyroDebugMode == DEBUG_NONE) {
filterGyro(gyroSensor);
} else {
filterGyroDebug(gyroSensor);
}
#ifdef USE_GYRO_DATA_ANALYSE
if (isDynamicFilterActive()) {
gyroDataAnalyse(&gyroSensor->gyroAnalyseState, gyroSensor->notchFilterDyn);