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Refactoring of IMU and ACC

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This commit is contained in:
Štěpán Dalecký 2022-01-20 20:37:23 +01:00
parent b6b24ba946
commit f85ebba6a4
24 changed files with 141 additions and 195 deletions
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8
src/main/flight/pid_init.c
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@ -54,6 +54,7 @@
#define ANTI_GRAVITY_THROTTLE_FILTER_CUTOFF 15 // The anti gravity throttle highpass filter cutoff
#define ANTI_GRAVITY_SMOOTH_FILTER_CUTOFF 3 // The anti gravity P smoothing filter cutoff
#define ATTITUDE_CUTOFF_HZ 250
static void pidSetTargetLooptime(uint32_t pidLooptime)
{
@ -238,6 +239,13 @@ void pidInitFilters(const pidProfile_t *pidProfile)
pt1FilterInit(&pidRuntime.antiGravityThrottleLpf, pt1FilterGain(ANTI_GRAVITY_THROTTLE_FILTER_CUTOFF, pidRuntime.dT));
pt1FilterInit(&pidRuntime.antiGravitySmoothLpf, pt1FilterGain(ANTI_GRAVITY_SMOOTH_FILTER_CUTOFF, pidRuntime.dT));
#ifdef USE_ACC
const float k = pt3FilterGain(ATTITUDE_CUTOFF_HZ, pidRuntime.dT);
for (int axis = 0; axis < 2; axis++) { // ROLL and PITCH only
pt3FilterInit(&pidRuntime.attitudeFilter[axis], k);
}
#endif
}
void pidInit(const pidProfile_t *pidProfile)