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Code Issues Wiki Activity

Collision Detection (#13010)

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Jan Post 2024-11-30 17:20:15 +01:00 • committed by GitHub
parent cfa5f0b2a1
commit db44e9df9e
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7 changed files with 99 additions and 56 deletions
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10
src/main/sensors/acceleration_init.c
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@ -29,8 +29,6 @@
#include "build/debug.h"
#include "common/axis.h"
#include "common/filter.h"
#include "common/utils.h"
#include "config/config_reset.h"
@ -69,9 +67,10 @@
#include "drivers/accgyro/legacy/accgyro_mma845x.h"
#endif
#include "config/config.h"
#include "drivers/bus_spi.h"
#include "config/config.h"
#include "fc/runtime_config.h"
#include "io/beeper.h"
@ -83,7 +82,6 @@
#include "sensors/boardalignment.h"
#include "sensors/gyro.h"
#include "sensors/gyro_init.h"
#include "sensors/sensors.h"
#include "acceleration_init.h"
@ -377,7 +375,7 @@ void accInitFilters(void)
// the filter initialization is not defined (sample rate = 0)
accelerationRuntime.accLpfCutHz = (acc.sampleRateHz) ? accelerometerConfig()->acc_lpf_hz : 0;
if (accelerationRuntime.accLpfCutHz) {
const float k = pt2FilterGain(accelerationRuntime.accLpfCutHz, 1.0f / acc.sampleRateHz);
const float k = pt2FilterGain(accelerationRuntime.accLpfCutHz, HZ_TO_INTERVAL(acc.sampleRateHz));
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt2FilterInit(&accelerationRuntime.accFilter[axis], k);
}
@ -401,7 +399,6 @@ bool accInit(uint16_t accSampleRateHz)
#ifdef USE_MULTI_GYRO
if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2) {
alignment = gyroDeviceConfig(1)->alignment;
customAlignment = &gyroDeviceConfig(1)->customAlignment;
}
#endif
@ -417,6 +414,7 @@ bool accInit(uint16_t accSampleRateHz)
acc.sampleRateHz = accSampleRateHz;
accInitFilters();
return true;
}