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Code Issues Wiki Activity

Simplify filters

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This commit is contained in:
borisbstyle 2015-12-10 21:37:57 +01:00
parent 6f4d741cd0
commit 8f0d7de791
5 changed files with 20 additions and 35 deletions
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11
src/main/sensors/gyro.c
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@ -38,16 +38,15 @@ int16_t gyroADC[XYZ_AXIS_COUNT];
int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
static gyroConfig_t *gyroConfig;
static int8_t * gyroFIRTable = 0L;
static int16_t gyroFIRState[3][7];
static uint8_t gyroFIRFilter;
gyro_t gyro; // gyro access functions
sensor_align_e gyroAlign = 0;
void useGyroConfig(gyroConfig_t *gyroConfigToUse, int8_t * filterTableToUse)
void useGyroConfig(gyroConfig_t *gyroConfigToUse, int8_t filter)
{
gyroConfig = gyroConfigToUse;
gyroFIRTable = filterTableToUse;
gyroFIRFilter = filter;
}
void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
@ -125,8 +124,8 @@ void gyroUpdate(void)
return;
}
if (gyroFIRTable) {
filterApplyFIR(gyroADC, gyroFIRState, gyroFIRTable);
if (gyroFIRFilter) {
filterApplyFIR(gyroADC);
}
alignSensors(gyroADC, gyroADC, gyroAlign);