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Merge branch 'master' into development

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borisbstyle 2016-10-07 02:44:21 +02:00
commit bd2ded600c
7 changed files with 44 additions and 20 deletions
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9
src/main/flight/pid.c
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@ -103,9 +103,10 @@ biquadFilter_t dtermFilterLpf[3];
biquadFilter_t dtermFilterNotch[3];
bool dtermNotchInitialised;
bool dtermBiquadLpfInitialised;
float dtermFilterDenoise[XYZ_AXIS_COUNT][MAX_DENOISE_WINDOW_SIZE];
bool dtermNotchInitialised, dtermLpfInitialised;
void initFilters(const pidProfile_t *pidProfile)
{
void initFilters(const pidProfile_t *pidProfile) {
int axis;
if (pidProfile->dterm_notch_hz && !dtermNotchInitialised) {
@ -115,9 +116,9 @@ void initFilters(const pidProfile_t *pidProfile)
}
if (pidProfile->dterm_filter_type == FILTER_BIQUAD) {
if (pidProfile->dterm_lpf_hz && !dtermBiquadLpfInitialised) {
if (pidProfile->dterm_lpf_hz && !dtermLpfInitialised) {
for (axis = 0; axis < 3; axis++) biquadFilterInitLPF(&dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, targetPidLooptime);
dtermBiquadLpfInitialised = true;
dtermLpfInitialised = true;
}
}
}