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Code Issues Wiki Activity

Make the imuGyroFilter actually filter (#13961)

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Kevin Plaizier 2024-10-08 13:44:39 -06:00 • committed by GitHub
parent 07bf547d42
commit ea30a11d1a
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src/main/sensors/gyro_init.c
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@ -278,7 +278,7 @@ void gyroInitFilters(void)
dynNotchInit(dynNotchConfig(), gyro.targetLooptime);
#endif
const float k = pt1FilterGain(GYRO_IMU_DOWNSAMPLE_CUTOFF_HZ, gyro.targetLooptime);
const float k = pt1FilterGain(GYRO_IMU_DOWNSAMPLE_CUTOFF_HZ, gyro.targetLooptime * 1e-6f);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt1FilterInit(&gyro.imuGyroFilter[axis], k);
}