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Code Issues Wiki Activity

Gyro Soft LPF Rework // Filter rework

Browse source 
remove 3 point average

lux optimize
This commit is contained in:
borisbstyle 2015-11-17 13:55:45 +01:00
parent f40982cd2d
commit 995f40c2f4
9 changed files with 128 additions and 59 deletions
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14
src/main/io/serial_cli.c
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@ -354,6 +354,10 @@ static const char * const lookupTableSerialRX[] = {
"XB-B-RJ01"
};
static const char * const lookupTableGyroFilter[] = {
"OFF", "LOW", "MEDIUM", "HIGH"
};
typedef struct lookupTableEntry_s {
const char * const *values;
@ -375,6 +379,7 @@ typedef enum {
TABLE_GIMBAL_MODE,
TABLE_PID_CONTROLLER,
TABLE_SERIAL_RX,
TABLE_GYRO_FILTER,
} lookupTableIndex_e;
static const lookupTableEntry_t lookupTables[] = {
@ -391,7 +396,8 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableCurrentSensor, sizeof(lookupTableCurrentSensor) / sizeof(char *) },
{ lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
{ lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) }
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
{ lookupTableGyroFilter, sizeof(lookupTableGyroFilter) / sizeof(char *) }
};
#define VALUE_TYPE_OFFSET 0
@ -641,9 +647,9 @@ const clivalue_t valueTable[] = {
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 200 } },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, .config.minmax = {0, 200 } },
{ "pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pterm_cut_hz, .config.minmax = {0, 200 } },
{ "gyro_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_cut_hz, .config.minmax = {0, 200 } },
{ "gyro_soft_lpf", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.gyro_soft_lpf, .config.lookup = { TABLE_GYRO_FILTER } },
{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, .config.minmax = {0, 200 } },
{ "yaw_pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz, .config.minmax = {0, 200 } },
#ifdef GTUNE
{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10, 200 } },