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Code Issues Wiki Activity

Filter Cleanup CF coding style// Remove Old pt1 for acc etc // F1 slower acc update

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borisbstyle 2016-01-17 22:33:30 +01:00
parent e15ee54513
commit a105af1225
11 changed files with 52 additions and 64 deletions
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20
src/main/mw.c
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@ -121,8 +121,6 @@ extern uint32_t currentTime;
extern uint8_t PIDweight[3];
static bool isRXDataNew;
static filterStatePt1_t filteredCycleTimeState;
uint16_t filteredCycleTime;
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
@ -179,10 +177,21 @@ void filterRc(void){
static int16_t deltaRC[4] = { 0, 0, 0, 0 };
static int16_t factor, rcInterpolationFactor;
uint16_t rxRefreshRate;
static biquad_t filteredCycleTimeState;
static bool filterIsSet;
uint16_t filteredCycleTime;
// Set RC refresh rate for sampling and channels to filter
initRxRefreshRate(&rxRefreshRate);
/* Initialize cycletime filter */
if (!filterIsSet) {
BiQuadNewLpf(1, &filteredCycleTimeState, 0);
filterIsSet = true;
}
filteredCycleTime = applyBiQuadFilter((float) cycleTime, &filteredCycleTimeState);
rcInterpolationFactor = rxRefreshRate / filteredCycleTime + 1;
if (isRXDataNew) {
@ -657,13 +666,6 @@ void taskMainPidLoop(void)
cycleTime = getTaskDeltaTime(TASK_SELF);
dT = (float)targetLooptime * 0.000001f;
// Calculate average cycle time and average jitter
filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 1, dT);
#if defined JITTER_DEBUG
debug[JITTER_DEBUG] = cycleTime - filteredCycleTime;
#endif
imuUpdateGyroAndAttitude();
annexCode();