mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 08:15:30 +03:00
86f9960987
Refactor the gyro filtering to move the filters from the individual gyro sensor and make them part of the logical gyro object. For dual-gyro mode the sensors are averaged BEFORE and then filtering is applied. This differs from the current structure where filtering is applied individually to each sensor and the results were averaged at the end. Significantly reduces filtering processing load and enables RPM Filtering for dual-gyro mode.
96 lines
2.2 KiB
C
96 lines
2.2 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include "platform.h"
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#include "debug.h"
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int16_t debug[DEBUG16_VALUE_COUNT];
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uint8_t debugMode;
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#ifdef DEBUG_SECTION_TIMES
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uint32_t sectionTimes[2][4];
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#endif
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// Please ensure that these names are aligned with the enum values defined in 'debug.h'
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const char * const debugModeNames[DEBUG_COUNT] = {
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"NONE",
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"CYCLETIME",
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"BATTERY",
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"GYRO_FILTERED",
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"ACCELEROMETER",
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"PIDLOOP",
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"GYRO_SCALED",
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"RC_INTERPOLATION",
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"ANGLERATE",
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"ESC_SENSOR",
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"SCHEDULER",
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"STACK",
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"ESC_SENSOR_RPM",
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"ESC_SENSOR_TMP",
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"ALTITUDE",
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"FFT",
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"FFT_TIME",
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"FFT_FREQ",
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"RX_FRSKY_SPI",
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"RX_SFHSS_SPI",
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"GYRO_RAW",
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"DUAL_GYRO_RAW",
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"DUAL_GYRO_DIFF",
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"MAX7456_SIGNAL",
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"MAX7456_SPICLOCK",
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"SBUS",
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"FPORT",
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"RANGEFINDER",
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"RANGEFINDER_QUALITY",
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"LIDAR_TF",
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"ADC_INTERNAL",
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"RUNAWAY_TAKEOFF",
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"SDIO",
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"CURRENT_SENSOR",
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"USB",
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"SMARTAUDIO",
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"RTH",
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"ITERM_RELAX",
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"ACRO_TRAINER",
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"RC_SMOOTHING",
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"RX_SIGNAL_LOSS",
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"RC_SMOOTHING_RATE",
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"ANTI_GRAVITY",
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"DYN_LPF",
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"RX_SPEKTRUM_SPI",
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"DSHOT_RPM_TELEMETRY",
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"RPM_FILTER",
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"D_MIN",
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"AC_CORRECTION",
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"AC_ERROR",
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"DUAL_GYRO_SCALED",
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"DSHOT_RPM_ERRORS",
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"CRSF_LINK_STATISTICS_UPLINK",
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"CRSF_LINK_STATISTICS_PWR",
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"CRSF_LINK_STATISTICS_DOWN",
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"BARO",
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"GPS_RESCUE_THROTTLE_PID",
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"DYN_IDLE",
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"FF_LIMIT",
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"FF_INTERPOLATED",
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};
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