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Merge pull request #10727 from ctzsnooze/PT2-PT3-options-for-filters

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Michael Keller 2021-05-25 01:53:53 +12:00 • committed by GitHub
commit b414be320f
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29 changed files with 496 additions and 571 deletions
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32
src/main/sensors/gyro_init.c
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@ -181,8 +181,8 @@ static bool gyroInitLowpassFilterLpf(int slot, int type, uint16_t lpfHz, uint32_
// type. It will be overridden for positive cases.
*lowpassFilterApplyFn = nullFilterApply;
// If lowpass cutoff has been specified and is less than the Nyquist frequency
if (lpfHz && lpfHz <= gyroFrequencyNyquist) {
// If lowpass cutoff has been specified
if (lpfHz) {
switch (type) {
case FILTER_PT1:
*lowpassFilterApplyFn = (filterApplyFnPtr) pt1FilterApply;
@ -192,13 +192,29 @@ static bool gyroInitLowpassFilterLpf(int slot, int type, uint16_t lpfHz, uint32_
ret = true;
break;
case FILTER_BIQUAD:
if (lpfHz <= gyroFrequencyNyquist) {
#ifdef USE_DYN_LPF
*lowpassFilterApplyFn = (filterApplyFnPtr) biquadFilterApplyDF1;
*lowpassFilterApplyFn = (filterApplyFnPtr) biquadFilterApplyDF1;
#else
*lowpassFilterApplyFn = (filterApplyFnPtr) biquadFilterApply;
*lowpassFilterApplyFn = (filterApplyFnPtr) biquadFilterApply;
#endif
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInitLPF(&lowpassFilter[axis].biquadFilterState, lpfHz, looptime);
}
ret = true;
}
break;
case FILTER_PT2:
*lowpassFilterApplyFn = (filterApplyFnPtr) pt2FilterApply;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInitLPF(&lowpassFilter[axis].biquadFilterState, lpfHz, looptime);
pt2FilterInit(&lowpassFilter[axis].pt2FilterState, gain);
}
ret = true;
break;
case FILTER_PT3:
*lowpassFilterApplyFn = (filterApplyFnPtr) pt3FilterApply;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt3FilterInit(&lowpassFilter[axis].pt3FilterState, gain);
}
ret = true;
break;
@ -218,6 +234,12 @@ static void dynLpfFilterInit()
case FILTER_BIQUAD:
gyro.dynLpfFilter = DYN_LPF_BIQUAD;
break;
case FILTER_PT2:
gyro.dynLpfFilter = DYN_LPF_PT2;
break;
case FILTER_PT3:
gyro.dynLpfFilter = DYN_LPF_PT3;
break;
default:
gyro.dynLpfFilter = DYN_LPF_NONE;
break;