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Code Issues Wiki Activity

Improve ACC filter initialisation

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This commit is contained in:
Martin Budden 2017-11-24 07:23:19 +00:00
parent f26d461dd6
commit ed04a1f24a
4 changed files with 5 additions and 5 deletions
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2
src/main/fc/config.c
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@ -307,7 +307,7 @@ void activateConfig(void)
failsafeReset();
setAccelerationTrims(&accelerometerConfigMutable()->accZero);
setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
accInitFilters();
imuConfigure(throttleCorrectionConfig()->throttle_correction_angle);
#endif // USE_OSD_SLAVE

2
src/main/fc/fc_init.c
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@ -511,7 +511,7 @@ void init(void)
// so we are ready to call validateAndFixGyroConfig(), pidInit(), and setAccelerationFilter()
validateAndFixGyroConfig();
pidInit(currentPidProfile);
setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
accInitFilters();
#ifdef USE_SERVOS
servosInit();

4
src/main/sensors/acceleration.c
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@ -499,9 +499,9 @@ void setAccelerationTrims(flightDynamicsTrims_t *accelerationTrimsToUse)
accelerationTrims = accelerationTrimsToUse;
}
void setAccelerationFilter(uint16_t initialAccLpfCutHz)
void accInitFilters(void)
{
accLpfCutHz = initialAccLpfCutHz;
accLpfCutHz = accelerometerConfig()->acc_lpf_hz;
if (acc.accSamplingInterval) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, acc.accSamplingInterval);

2
src/main/sensors/acceleration.h
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@ -80,4 +80,4 @@ void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
void accUpdate(rollAndPitchTrims_t *rollAndPitchTrims);
union flightDynamicsTrims_u;
void setAccelerationTrims(union flightDynamicsTrims_u *accelerationTrimsToUse);
void setAccelerationFilter(uint16_t initialAccLpfCutHz);
void accInitFilters(void);