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Code Issues Wiki Activity

remove rpm filter from fast_code

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-03-11 20:27:05 +01:00
parent 63b0bd74ff
commit 0d0929aaa1
6 changed files with 14 additions and 12 deletions
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2
src/main/common/global_functions.c
View file

@ -142,7 +142,7 @@ float NOINLINE getThrottleScale(float globalThrottleScale) {
} }
} }
int16_t FAST_CODE getRcCommandOverride(int16_t command[], uint8_t axis) { int16_t getRcCommandOverride(int16_t command[], uint8_t axis) {
int16_t outputValue = command[axis]; int16_t outputValue = command[axis];
if (GLOBAL_FUNCTION_FLAG(GLOBAL_FUNCTION_FLAG_OVERRIDE_SWAP_ROLL_YAW) && axis == FD_ROLL) { if (GLOBAL_FUNCTION_FLAG(GLOBAL_FUNCTION_FLAG_OVERRIDE_SWAP_ROLL_YAW) && axis == FD_ROLL) {

4
src/main/fc/fc_init.c
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@ -655,10 +655,10 @@ void init(void)
#ifdef USE_RPM_FILTER #ifdef USE_RPM_FILTER
disableRpmFilters(); disableRpmFilters();
if (STATE(ESC_SENSOR_ENABLED) && (rpmFilterConfig()->gyro_filter_enabled || rpmFilterConfig()->dterm_filter_enabled)) { // if (STATE(ESC_SENSOR_ENABLED) && (rpmFilterConfig()->gyro_filter_enabled || rpmFilterConfig()->dterm_filter_enabled)) {
rpmFiltersInit(); rpmFiltersInit();
setTaskEnabled(TASK_RPM_FILTER, true); setTaskEnabled(TASK_RPM_FILTER, true);
} // }
#endif #endif
systemState |= SYSTEM_STATE_READY; systemState |= SYSTEM_STATE_READY;

6
src/main/flight/mixer.c
View file

@ -290,7 +290,7 @@ void mixerResetDisarmedMotors(void)
} }
} }
static FAST_CODE NOINLINE uint16_t handleOutputScaling( static uint16_t handleOutputScaling(
int16_t input, // Input value from the mixer int16_t input, // Input value from the mixer
int16_t stopThreshold, // Threshold value to check if motor should be rotating or not int16_t stopThreshold, // Threshold value to check if motor should be rotating or not
int16_t onStopValue, // Value sent to the ESC when min rotation is required - on motor_stop it is STOP command, without motor_stop it's a value that keeps rotation int16_t onStopValue, // Value sent to the ESC when min rotation is required - on motor_stop it is STOP command, without motor_stop it's a value that keeps rotation
@ -318,7 +318,7 @@ static FAST_CODE NOINLINE uint16_t handleOutputScaling(
return value; return value;
} }
void FAST_CODE NOINLINE writeMotors(void) void FAST_CODE writeMotors(void)
{ {
for (int i = 0; i < motorCount; i++) { for (int i = 0; i < motorCount; i++) {
uint16_t motorValue; uint16_t motorValue;
@ -438,7 +438,7 @@ static int getReversibleMotorsThrottleDeadband(void)
return feature(FEATURE_MOTOR_STOP) ? reversibleMotorsConfig()->neutral : directionValue; return feature(FEATURE_MOTOR_STOP) ? reversibleMotorsConfig()->neutral : directionValue;
} }
void FAST_CODE NOINLINE mixTable(const float dT) void FAST_CODE mixTable(const float dT)
{ {
int16_t input[3]; // RPY, range [-500:+500] int16_t input[3]; // RPY, range [-500:+500]
// Allow direct stick input to motors in passthrough mode on airplanes // Allow direct stick input to motors in passthrough mode on airplanes

10
src/main/flight/rpm_filter.c
View file

@ -22,6 +22,8 @@
* along with this program. If not, see http://www.gnu.org/licenses/. * along with this program. If not, see http://www.gnu.org/licenses/.
*/ */
#include "platform.h"
#include "flight/rpm_filter.h" #include "flight/rpm_filter.h"
#include "config/parameter_group.h" #include "config/parameter_group.h"
@ -82,7 +84,7 @@ void nullRpmFilterUpdate(rpmFilterBank_t *filterBank, uint8_t motor, float baseF
UNUSED(baseFrequency); UNUSED(baseFrequency);
} }
float FAST_CODE rpmFilterApply(rpmFilterBank_t *filterBank, uint8_t axis, float input) float rpmFilterApply(rpmFilterBank_t *filterBank, uint8_t axis, float input)
{ {
float output = input; float output = input;
@ -136,7 +138,7 @@ void disableRpmFilters(void) {
rpmGyroApplyFn = (rpmFilterApplyFnPtr)nullRpmFilterApply; rpmGyroApplyFn = (rpmFilterApplyFnPtr)nullRpmFilterApply;
} }
void FAST_CODE NOINLINE rpmFilterUpdate(rpmFilterBank_t *filterBank, uint8_t motor, float baseFrequency) void rpmFilterUpdate(rpmFilterBank_t *filterBank, uint8_t motor, float baseFrequency)
{ {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++)
{ {
@ -177,7 +179,7 @@ void rpmFiltersInit(void)
} }
} }
void FAST_CODE NOINLINE rpmFilterUpdateTask(timeUs_t currentTimeUs) void rpmFilterUpdateTask(timeUs_t currentTimeUs)
{ {
UNUSED(currentTimeUs); UNUSED(currentTimeUs);
@ -198,7 +200,7 @@ void FAST_CODE NOINLINE rpmFilterUpdateTask(timeUs_t currentTimeUs)
} }
} }
float FAST_CODE rpmFilterGyroApply(uint8_t axis, float input) float rpmFilterGyroApply(uint8_t axis, float input)
{ {
return rpmGyroApplyFn(&gyroRpmFilters, axis, input); return rpmGyroApplyFn(&gyroRpmFilters, axis, input);
} }

2
src/main/navigation/navigation.c
View file

@ -3433,7 +3433,7 @@ bool navigationRTHAllowsLanding(void)
(allow == NAV_RTH_ALLOW_LANDING_FS_ONLY && FLIGHT_MODE(FAILSAFE_MODE)); (allow == NAV_RTH_ALLOW_LANDING_FS_ONLY && FLIGHT_MODE(FAILSAFE_MODE));
} }
bool FAST_CODE isNavLaunchEnabled(void) bool isNavLaunchEnabled(void)
{ {
return IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) || feature(FEATURE_FW_LAUNCH); return IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) || feature(FEATURE_FW_LAUNCH);
} }

2
src/main/scheduler/scheduler.c
View file

@ -178,7 +178,7 @@ void setTaskEnabled(cfTaskId_e taskId, bool enabled)
} }
} }
timeDelta_t FAST_CODE NOINLINE getTaskDeltaTime(cfTaskId_e taskId) timeDelta_t getTaskDeltaTime(cfTaskId_e taskId)
{ {
if (taskId == TASK_SELF) { if (taskId == TASK_SELF) {
return currentTask->taskLatestDeltaTime; return currentTask->taskLatestDeltaTime;