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Code Issues Wiki Activity

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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2
src/main/build/debug.h
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@ -54,7 +54,7 @@ typedef enum {
DEBUG_MIXER, DEBUG_MIXER,
DEBUG_AIRMODE, DEBUG_AIRMODE,
DEBUG_PIDLOOP, DEBUG_PIDLOOP,
DEBUG_NOTCH, DEBUG_GYRO_NOTCH,
DEBUG_RC_INTERPOLATION, DEBUG_RC_INTERPOLATION,
DEBUG_VELOCITY, DEBUG_VELOCITY,
DEBUG_DTERM_FILTER, DEBUG_DTERM_FILTER,

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++) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
// scale gyro output to degrees per second // scale gyro output to degrees per second
float gyroADCf = (float)gyroSensor->gyroDev.gyroADC[axis] * gyroSensor->gyroDev.scale; 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 #ifdef USE_GYRO_DATA_ANALYSE
// Apply Dynamic Notch filtering // Apply Dynamic Notch filtering
@ -591,7 +593,6 @@ void gyroUpdateSensor(gyroSensor_t *gyroSensor)
#endif #endif
// Apply Static Notch filtering // Apply Static Notch filtering
DEBUG_SET(DEBUG_NOTCH, axis, lrintf(gyroADCf));
gyroADCf = gyroSensor->notchFilter1ApplyFn(&gyroSensor->notchFilter1[axis], gyroADCf); gyroADCf = gyroSensor->notchFilter1ApplyFn(&gyroSensor->notchFilter1[axis], gyroADCf);
gyroADCf = gyroSensor->notchFilter2ApplyFn(&gyroSensor->notchFilter2[axis], gyroADCf); gyroADCf = gyroSensor->notchFilter2ApplyFn(&gyroSensor->notchFilter2[axis], gyroADCf);

2
src/main/target/common_fc_pre.h
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@ -26,7 +26,7 @@
//#pragma GCC diagnostic warning "-Wpadded" //#pragma GCC diagnostic warning "-Wpadded"
//#define SCHEDULER_DEBUG // define this to use scheduler debug[] values. Undefined by default for performance reasons //#define SCHEDULER_DEBUG // define this to use scheduler debug[] values. Undefined by default for performance reasons
#define DEBUG_MODE DEBUG_NONE // change this to change initial debug mode #define DEBUG_MODE DEBUG_GYRO_NOTCH // change this to change initial debug mode
#define I2C1_OVERCLOCK true #define I2C1_OVERCLOCK true
#define I2C2_OVERCLOCK true #define I2C2_OVERCLOCK true