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Code Issues Wiki Activity

Fixed missing RPM filter update.

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This commit is contained in:
mikeller 2020-07-08 16:39:43 +12:00
parent f6b1c6a539
commit 99c3cc9b0b
2 changed files with 5 additions and 1 deletions
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5
src/main/flight/pid.c
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@ -47,6 +47,7 @@
#include "flight/gps_rescue.h" #include "flight/gps_rescue.h"
#include "flight/imu.h" #include "flight/imu.h"
#include "flight/mixer.h" #include "flight/mixer.h"
#include "flight/rpm_filter.h"
#include "flight/interpolated_setpoint.h" #include "flight/interpolated_setpoint.h"
#include "io/gps.h" #include "io/gps.h"
@ -872,6 +873,10 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
rotateItermAndAxisError(); rotateItermAndAxisError();
#ifdef USE_RPM_FILTER
rpmFilterUpdate();
#endif
#ifdef USE_INTERPOLATED_SP #ifdef USE_INTERPOLATED_SP
bool newRcFrame = false; bool newRcFrame = false;
if (lastFrameNumber != getRcFrameNumber()) { if (lastFrameNumber != getRcFrameNumber()) {

1
src/main/flight/rpm_filter.h
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@ -36,7 +36,6 @@ PG_DECLARE(rpmFilterConfig_t, rpmFilterConfig);
void rpmFilterInit(const rpmFilterConfig_t *config); void rpmFilterInit(const rpmFilterConfig_t *config);
float rpmFilterGyro(int axis, float values); float rpmFilterGyro(int axis, float values);
float rpmFilterDterm(int axis, float values);
void rpmFilterUpdate(); void rpmFilterUpdate();
bool isRpmFilterEnabled(void); bool isRpmFilterEnabled(void);
float rpmMinMotorFrequency(); float rpmMinMotorFrequency();