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Refactor BiQuad // Set filters to floats

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borisbstyle 2016-02-03 13:46:56 +01:00
parent 403812c45f
commit eebacc2542
10 changed files with 32 additions and 39 deletions
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4
src/main/io/serial_cli.c
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@ -601,6 +601,7 @@ const clivalue_t valueTable[] = {
{ "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &masterConfig.max_angle_inclination, .config.minmax = { 100, 900 } },
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
{ "gyro_soft_lpf", VAR_FLOAT | MASTER_VALUE, &masterConfig.gyro_soft_lpf_hz, .config.minmax = { 0, 500 } },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, .config.minmax = { 0, 50000 } },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, .config.minmax = { 0, 50000 } },
@ -705,8 +706,7 @@ const clivalue_t valueTable[] = {
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0, 200 } },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 200 } },
{ "soft_gyro_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_lpf_hz, .config.minmax = {0, 255 } },
{ "dterm_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 255 } },
{ "dterm_lpf_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "acro_plus_factor", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.airModeInsaneAcrobilityFactor, .config.minmax = {0, 100 } },
#ifdef BLACKBOX