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Merge branch 'master' into custom-servo-mixers

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This commit is contained in:
Dominic Clifton 2015-07-08 12:11:49 +01:00
commit bb0f909e83
26 changed files with 1394 additions and 248 deletions
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11
src/main/mw.c
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@ -72,6 +72,7 @@
#include "flight/failsafe.h"
#include "flight/autotune.h"
#include "flight/navigation.h"
#include "flight/filter.h"
#include "config/runtime_config.h"
@ -740,6 +741,16 @@ void loop(void)
cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime;
// Gyro Low Pass
if (currentProfile->pidProfile.gyro_cut_hz) {
int axis;
static filterStatePt1_t gyroADCState[XYZ_AXIS_COUNT];
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz);
}
}
annexCode();
#if defined(BARO) || defined(SONAR)
haveProcessedAnnexCodeOnce = true;