Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 17:25:20 +03:00
Code Issues Wiki Activity

Cleanup Denoise Code

Browse source
This commit is contained in:
borisbstyle 2016-10-08 01:49:10 +02:00
parent 8dd8e3969f
commit b168b33448
5 changed files with 30 additions and 15 deletions
Download patch file Download diff file Expand all files Collapse all files

7
src/main/sensors/gyro.c
View file

@ -48,7 +48,7 @@ static const gyroConfig_t *gyroConfig;
static biquadFilter_t gyroFilterLPF[XYZ_AXIS_COUNT];
static biquadFilter_t gyroFilterNotch_1[XYZ_AXIS_COUNT], gyroFilterNotch_2[XYZ_AXIS_COUNT];
static pt1Filter_t gyroFilterPt1[XYZ_AXIS_COUNT];
static float gyroFilterDenoise[XYZ_AXIS_COUNT][MAX_DENOISE_WINDOW_SIZE];
static denoisingState_t gyroDenoiseState[XYZ_AXIS_COUNT];
static uint8_t gyroSoftLpfType;
static uint16_t gyroSoftNotchHz_1, gyroSoftNotchHz_2;
static float gyroSoftNotchQ_1, gyroSoftNotchQ_2;
@ -195,7 +195,7 @@ void gyroUpdate(void)
else if (gyroSoftLpfType == FILTER_PT1)
gyroADCf[axis] = pt1FilterApply4(&gyroFilterPt1[axis], (float) gyroADC[axis], gyroSoftLpfHz, gyroDt);
else
gyroADCf[axis] = denoisingFilterUpdate((float) gyroADC[axis], 3, gyroFilterDenoise[axis]);
gyroADCf[axis] = denoisingFilterUpdate(&gyroDenoiseState[axis], (float) gyroADC[axis]);
if (debugMode == DEBUG_NOTCH)
debug[axis] = lrintf(gyroADCf[axis]);
@ -209,8 +209,7 @@ void gyroUpdate(void)
gyroADC[axis] = lrintf(gyroADCf[axis]);
}
} else {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++)
gyroADCf[axis] = gyroADC[axis];
}
}
}