Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 13:25:30 +03:00
Code Issues Wiki Activity

Merge pull request #6864 from etracer65/overflow_filter_order_fix

Browse source 
Fix ordering of gyro filtering and overflow/yaw-spin logic
This commit is contained in:
Michael Keller 2018-10-03 00:47:33 +13:00 • committed by GitHub
commit eb7a3250c2
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 6 deletions
Download patch file Download diff file Expand all files Collapse all files

12
src/main/sensors/gyro.c
View file

@ -949,6 +949,12 @@ static FAST_CODE FAST_CODE_NOINLINE void gyroUpdateSensor(gyroSensor_t *gyroSens
return; return;
} }
if (gyroDebugMode == DEBUG_NONE) {
filterGyro(gyroSensor);
} else {
filterGyroDebug(gyroSensor);
}
#ifdef USE_GYRO_OVERFLOW_CHECK #ifdef USE_GYRO_OVERFLOW_CHECK
if (gyroConfig()->checkOverflow && !gyroHasOverflowProtection) { if (gyroConfig()->checkOverflow && !gyroHasOverflowProtection) {
checkForOverflow(gyroSensor, currentTimeUs); checkForOverflow(gyroSensor, currentTimeUs);
@ -961,12 +967,6 @@ static FAST_CODE FAST_CODE_NOINLINE void gyroUpdateSensor(gyroSensor_t *gyroSens
} }
#endif #endif
if (gyroDebugMode == DEBUG_NONE) {
filterGyro(gyroSensor);
} else {
filterGyroDebug(gyroSensor);
}
#ifdef USE_GYRO_DATA_ANALYSE #ifdef USE_GYRO_DATA_ANALYSE
if (isDynamicFilterActive()) { if (isDynamicFilterActive()) {
gyroDataAnalyse(&gyroSensor->gyroAnalyseState, gyroSensor->notchFilterDyn); gyroDataAnalyse(&gyroSensor->gyroAnalyseState, gyroSensor->notchFilterDyn);