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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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5
src/main/sensors/gyro_init.c
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@ -266,6 +266,11 @@ void gyroInitFilters(void)
#ifdef USE_DYN_NOTCH_FILTER
dynNotchInit(dynNotchConfig(), gyro.targetLooptime);
#endif
const float k = pt1FilterGain(GYRO_IMU_DOWNSAMPLE_CUTOFF_HZ, gyro.targetLooptime);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt1FilterInit(&gyro.imuGyroFilter[axis], k);
}
}
#if defined(USE_GYRO_SLEW_LIMITER)