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Updates and cleanup from review, simplify auto cutoff calculation

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Renamed variables to be more representative of their content.

Simplified the auto-cutoff calculation to be 90% of the nyquist frequency of the measured rx frame rate.

Simplified the PT1 from BIQUAD calculation.

Added active cutoffs to the blackbox log header. Reduce the number of headers by combining like entries into a single line.
This commit is contained in:
Bruce Luckcuck 2018-06-06 17:27:36 -04:00
parent e49c10b573
commit dfa6be810a
3 changed files with 26 additions and 22 deletions
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11
src/main/blackbox/blackbox.c
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@ -53,6 +53,7 @@
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/fc_rc.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
@ -1325,11 +1326,13 @@ static bool blackboxWriteSysinfo(void)
#ifdef USE_RC_SMOOTHING_FILTER
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_type", "%d", rxConfig()->rc_smoothing_type);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_input_cutoff", "%d", rxConfig()->rc_smoothing_input_cutoff);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_derivative_cutoff", "%d", rxConfig()->rc_smoothing_derivative_cutoff);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_debug_axis", "%d", rxConfig()->rc_smoothing_debug_axis);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_input_type", "%d", rxConfig()->rc_smoothing_input_type);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_derivative_type", "%d", rxConfig()->rc_smoothing_derivative_type);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_cutoffs", "%d, %d", rxConfig()->rc_smoothing_input_cutoff,
rxConfig()->rc_smoothing_derivative_cutoff);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_filter_type", "%d, %d", rxConfig()->rc_smoothing_input_type,
rxConfig()->rc_smoothing_derivative_type);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_active_cutoffs", "%d, %d", rcSmoothingGetValue(RC_SMOOTHING_VALUE_INPUT_ACTIVE),
rcSmoothingGetValue(RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE));
#endif // USE_RC_SMOOTHING_FILTER