Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-26 01:35:41 +03:00
Code Issues Wiki Activity

Add comments to gyro.c

Browse source
This commit is contained in:
borisbstyle 2017-01-06 11:50:57 +01:00
parent 9fe1ebd1aa
commit d4d75f6da1
1 changed files with 2 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/main/sensors/gyro.c
View file

@ -445,16 +445,14 @@ void gyroUpdate(void)
// scale gyro output to degrees per second // scale gyro output to degrees per second
float gyroADCf = (float)gyroADC[axis] * gyro.dev.scale; float gyroADCf = (float)gyroADC[axis] * gyro.dev.scale;
// Apply LPF
DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf)); DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf));
gyroADCf = softLpfFilterApplyFn(softLpfFilter[axis], gyroADCf); gyroADCf = softLpfFilterApplyFn(softLpfFilter[axis], gyroADCf);
// Apply Notch filtering
DEBUG_SET(DEBUG_NOTCH, axis, lrintf(gyroADCf)); DEBUG_SET(DEBUG_NOTCH, axis, lrintf(gyroADCf));
gyroADCf = notchFilter1ApplyFn(notchFilter1[axis], gyroADCf); gyroADCf = notchFilter1ApplyFn(notchFilter1[axis], gyroADCf);
gyroADCf = notchFilter2ApplyFn(notchFilter2[axis], gyroADCf); gyroADCf = notchFilter2ApplyFn(notchFilter2[axis], gyroADCf);
gyro.gyroADCf[axis] = gyroADCf; gyro.gyroADCf[axis] = gyroADCf;
if (!calibrationComplete) { if (!calibrationComplete) {