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Changed DEBUG_NOTCH to record unfiltered gyro output (#3965)

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Martin Budden 2017-08-27 07:45:22 +01:00 • committed by GitHub
parent 5ff2238933
commit ef00cc45cf
3 changed files with 4 additions and 3 deletions
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3
src/main/sensors/gyro.c
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@ -577,6 +577,8 @@ void gyroUpdateSensor(gyroSensor_t *gyroSensor)
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
// scale gyro output to degrees per second
float gyroADCf = (float)gyroSensor->gyroDev.gyroADC[axis] * gyroSensor->gyroDev.scale;
// DEBUG_GYRO_NOTCH records the unfiltered gyro output
DEBUG_SET(DEBUG_GYRO_NOTCH, axis, lrintf(gyroADCf));
#ifdef USE_GYRO_DATA_ANALYSE
// Apply Dynamic Notch filtering
@ -591,7 +593,6 @@ void gyroUpdateSensor(gyroSensor_t *gyroSensor)
#endif
// Apply Static Notch filtering
DEBUG_SET(DEBUG_NOTCH, axis, lrintf(gyroADCf));
gyroADCf = gyroSensor->notchFilter1ApplyFn(&gyroSensor->notchFilter1[axis], gyroADCf);
gyroADCf = gyroSensor->notchFilter2ApplyFn(&gyroSensor->notchFilter2[axis], gyroADCf);