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Code Issues Wiki Activity

Move smoothing of rcData to rcCommand

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borisbstyle 2015-10-20 20:14:51 +02:00
parent 2b722b6f82
commit a31a962467
1 changed files with 8 additions and 6 deletions
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14
src/main/mw.c
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@ -683,13 +683,13 @@ void filterRc(void){
// Set RC refresh rate for sampling and channels to filter
initRxRefreshRate(&rxRefreshRate);
filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 1, dT);
filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 1, dT);
rcInterpolationFactor = rxRefreshRate / filteredCycleTime + 1;
if (isRXDataNew) {
for (int channel=0; channel < 4; channel++) {
deltaRC[channel] = rcData[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
lastCommand[channel] = rcData[channel];
deltaRC[channel] = rcCommand[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
lastCommand[channel] = rcCommand[channel];
}
isRXDataNew = false;
@ -698,16 +698,17 @@ void filterRc(void){
factor--;
}
// Interpolate steps of rcData
// Interpolate steps of rcCommand
if (factor > 0) {
for (int channel=0; channel < 4; channel++) {
rcData[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
}
} else {
factor = 0;
}
}
void loop(void)
{
static uint32_t loopTime;
@ -791,9 +792,10 @@ void loop(void)
filterApply7TapFIR(gyroADC);
annexCode();
filterRc();
annexCode();
#if defined(BARO) || defined(SONAR)
haveProcessedAnnexCodeOnce = true;
#endif