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Filter Cleanup CF coding style// Remove Old pt1 for acc etc // F1 slower acc update
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e15ee54513
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a105af1225
11 changed files with 52 additions and 64 deletions
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@ -41,7 +41,7 @@ int16_t gyroADC[XYZ_AXIS_COUNT];
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int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
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static gyroConfig_t *gyroConfig;
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static biquad_t *gyroBiQuadState[3];
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static biquad_t gyroBiQuadState[3];
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static bool gyroFilterStateIsSet;
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static uint8_t gyroLpfCutFreq;
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int axis;
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@ -49,15 +49,15 @@ int axis;
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gyro_t gyro; // gyro access functions
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sensor_align_e gyroAlign = 0;
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void useGyroConfig(gyroConfig_t *gyroConfigToUse, uint8_t *gyro_lpf_hz)
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void useGyroConfig(gyroConfig_t *gyroConfigToUse, uint8_t gyro_lpf_hz)
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{
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gyroConfig = gyroConfigToUse;
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gyroLpfCutFreq = *gyro_lpf_hz;
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gyroLpfCutFreq = gyro_lpf_hz;
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}
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void initGyroFilterCoefficients(void) {
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if (gyroLpfCutFreq && targetLooptime) { /* Initialisation needs to happen once samplingrate is known */
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for (axis = 0; axis < 3; axis++) gyroBiQuadState[axis] = (biquad_t *)BiQuadNewLpf(gyroLpfCutFreq);
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for (axis = 0; axis < 3; axis++) BiQuadNewLpf(gyroLpfCutFreq, &gyroBiQuadState[axis], 0);
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gyroFilterStateIsSet = true;
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}
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}
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@ -143,7 +143,7 @@ void gyroUpdate(void)
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if (!gyroFilterStateIsSet) {
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initGyroFilterCoefficients();
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} else {
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for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) gyroADC[axis] = lrintf(applyBiQuadFilter((float) gyroADC[axis], gyroBiQuadState[axis]));
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for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) gyroADC[axis] = lrintf(applyBiQuadFilter((float) gyroADC[axis], &gyroBiQuadState[axis]));
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}
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}
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