From ed04a1f24a4f186eff37562bfe5cea718905811a Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Fri, 24 Nov 2017 07:23:19 +0000
Subject: [PATCH] Improve ACC filter initialisation

---
 src/main/fc/config.c            | 2 +-
 src/main/fc/fc_init.c           | 2 +-
 src/main/sensors/acceleration.c | 4 ++--
 src/main/sensors/acceleration.h | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 4eff243387..7bb5fc289c 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -307,7 +307,7 @@ void activateConfig(void)
 
     failsafeReset();
     setAccelerationTrims(&accelerometerConfigMutable()->accZero);
-    setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
+    accInitFilters();
 
     imuConfigure(throttleCorrectionConfig()->throttle_correction_angle);
 #endif // USE_OSD_SLAVE
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 16ce58aeb1..41e06cb137 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -511,7 +511,7 @@ void init(void)
     // so we are ready to call validateAndFixGyroConfig(), pidInit(), and setAccelerationFilter()
     validateAndFixGyroConfig();
     pidInit(currentPidProfile);
-    setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
+    accInitFilters();
 
 #ifdef USE_SERVOS
     servosInit();
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index bd33f8674a..804ac6b465 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -499,9 +499,9 @@ void setAccelerationTrims(flightDynamicsTrims_t *accelerationTrimsToUse)
     accelerationTrims = accelerationTrimsToUse;
 }
 
-void setAccelerationFilter(uint16_t initialAccLpfCutHz)
+void accInitFilters(void)
 {
-    accLpfCutHz = initialAccLpfCutHz;
+    accLpfCutHz = accelerometerConfig()->acc_lpf_hz;
     if (acc.accSamplingInterval) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
             biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, acc.accSamplingInterval);
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 57ee0fc82d..e275391f36 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -80,4 +80,4 @@ void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
 void accUpdate(rollAndPitchTrims_t *rollAndPitchTrims);
 union flightDynamicsTrims_u;
 void setAccelerationTrims(union flightDynamicsTrims_u *accelerationTrimsToUse);
-void setAccelerationFilter(uint16_t initialAccLpfCutHz);
+void accInitFilters(void);