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Changed slew filter to work for all axis instead of just yaw.

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This commit is contained in:
Bruce Luckcuck 2017-12-22 12:17:27 -05:00
parent a618de9e8e
commit 96f0cff924
1 changed files with 4 additions and 2 deletions
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6
src/main/sensors/gyro.c
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@ -676,11 +676,13 @@ static FAST_CODE void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t curren
if (isGyroSensorCalibrationComplete(gyroSensor)) {
// move 16-bit gyro data into 32-bit variables to avoid overflows in calculations
gyroSensor->gyroDev.gyroADC[X] = gyroSensor->gyroDev.gyroADCRaw[X] - gyroSensor->gyroDev.gyroZero[X];
gyroSensor->gyroDev.gyroADC[Y] = gyroSensor->gyroDev.gyroADCRaw[Y] - gyroSensor->gyroDev.gyroZero[Y];
#if defined(USE_GYRO_SLEW_LIMITER)
gyroSensor->gyroDev.gyroADC[X] = gyroSlewLimiter(gyroSensor, X) - gyroSensor->gyroDev.gyroZero[X];
gyroSensor->gyroDev.gyroADC[Y] = gyroSlewLimiter(gyroSensor, Y) - gyroSensor->gyroDev.gyroZero[Y];
gyroSensor->gyroDev.gyroADC[Z] = gyroSlewLimiter(gyroSensor, Z) - gyroSensor->gyroDev.gyroZero[Z];
#else
gyroSensor->gyroDev.gyroADC[X] = gyroSensor->gyroDev.gyroADCRaw[X] - gyroSensor->gyroDev.gyroZero[X];
gyroSensor->gyroDev.gyroADC[Y] = gyroSensor->gyroDev.gyroADCRaw[Y] - gyroSensor->gyroDev.gyroZero[Y];
gyroSensor->gyroDev.gyroADC[Z] = gyroSensor->gyroDev.gyroADCRaw[Z] - gyroSensor->gyroDev.gyroZero[Z];
#endif