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Implement throttle based dynamic gyro and dterm filters.

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This commit is contained in:
Kenneth Mitchell 2018-09-18 20:22:38 -04:00
parent c222f692ea
commit ca460e842b
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GPG key ID: E27133AAF586AB21
7 changed files with 213 additions and 28 deletions
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11
src/main/sensors/gyro.h
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@ -53,6 +53,12 @@ enum {
DYN_FILTER_RANGE_LOW
} ;
enum {
DYN_LPF_NONE = 0,
DYN_LPF_PT1,
DYN_LPF_BIQUAD
} ;
#define GYRO_CONFIG_USE_GYRO_1 0
#define GYRO_CONFIG_USE_GYRO_2 1
#define GYRO_CONFIG_USE_GYRO_BOTH 2
@ -95,6 +101,8 @@ typedef struct gyroConfig_s {
uint8_t dyn_filter_width_percent;
uint8_t dyn_fft_location; // before or after static filters
uint8_t dyn_filter_range; // ignore any FFT bin below this threshold
uint16_t dyn_lpf_gyro_max_hz;
uint8_t dyn_lpf_gyro_idle;
} gyroConfig_t;
PG_DECLARE(gyroConfig_t, gyroConfig);
@ -117,3 +125,6 @@ bool gyroOverflowDetected(void);
bool gyroYawSpinDetected(void);
uint16_t gyroAbsRateDps(int axis);
uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg);
#ifdef USE_DYN_LPF
void dynLpfGyroUpdate(float throttle);
#endif