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Code Issues Wiki Activity

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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6
src/main/sensors/acceleration_init.c
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@ -124,7 +124,7 @@ static void resetFlightDynamicsTrims(flightDynamicsTrims_t *accZero)
void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance)
{
RESET_CONFIG_2(accelerometerConfig_t, instance,
.acc_lpf_hz = 10,
.acc_lpf_hz = 25, // ATTITUDE/IMU runs at 100Hz (acro) or 500Hz (level modes) so we need to set 50 Hz (or lower) to avoid aliasing
.acc_hardware = ACC_DEFAULT,
.acc_high_fsr = false,
);
@ -352,9 +352,9 @@ void accInitFilters(void)
// the filter initialization is not defined (sample rate = 0)
accelerationRuntime.accLpfCutHz = (acc.sampleRateHz) ? accelerometerConfig()->acc_lpf_hz : 0;
if (accelerationRuntime.accLpfCutHz) {
const uint32_t accSampleTimeUs = 1e6 / acc.sampleRateHz;
const float k = pt2FilterGain(accelerationRuntime.accLpfCutHz, 1.0f / acc.sampleRateHz);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInitLPF(&accelerationRuntime.accFilter[axis], accelerationRuntime.accLpfCutHz, accSampleTimeUs);
pt2FilterInit(&accelerationRuntime.accFilter[axis], k);
}
}
}