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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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10
src/main/sensors/gyro.c
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@ -41,7 +41,7 @@ int16_t gyroADC[XYZ_AXIS_COUNT];
int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
static gyroConfig_t *gyroConfig;
static biquad_t *gyroBiQuadState[3];
static biquad_t gyroBiQuadState[3];
static bool gyroFilterStateIsSet;
static uint8_t gyroLpfCutFreq;
int axis;
@ -49,15 +49,15 @@ int axis;
gyro_t gyro; // gyro access functions
sensor_align_e gyroAlign = 0;
void useGyroConfig(gyroConfig_t *gyroConfigToUse, uint8_t *gyro_lpf_hz)
void useGyroConfig(gyroConfig_t *gyroConfigToUse, uint8_t gyro_lpf_hz)
{
gyroConfig = gyroConfigToUse;
gyroLpfCutFreq = *gyro_lpf_hz;
gyroLpfCutFreq = gyro_lpf_hz;
}
void initGyroFilterCoefficients(void) {
if (gyroLpfCutFreq && targetLooptime) { /* Initialisation needs to happen once samplingrate is known */
for (axis = 0; axis < 3; axis++) gyroBiQuadState[axis] = (biquad_t *)BiQuadNewLpf(gyroLpfCutFreq);
for (axis = 0; axis < 3; axis++) BiQuadNewLpf(gyroLpfCutFreq, &gyroBiQuadState[axis], 0);
gyroFilterStateIsSet = true;
}
}
@ -143,7 +143,7 @@ void gyroUpdate(void)
if (!gyroFilterStateIsSet) {
initGyroFilterCoefficients();
} else {
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) gyroADC[axis] = lrintf(applyBiQuadFilter((float) gyroADC[axis], gyroBiQuadState[axis]));
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) gyroADC[axis] = lrintf(applyBiQuadFilter((float) gyroADC[axis], &gyroBiQuadState[axis]));
}
}