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Merge pull request #1699 from martinbudden/bf_gyro_filter_init_fix 

Fixed incorrect initialisation of gyro PT1 filter
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Martin Budden 2016-11-29 10:13:20 +01:00 committed by GitHub
parent e5c4da5144 bbddbfcb7b
commit 1bfeabfa96
1 changed files with 1 additions and 1 deletions
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src/main/sensors/gyro.c
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@ -74,7 +74,7 @@ void gyroInit(const gyroConfig_t *gyroConfigToUse)
softLpfFilter[axis] = &gyroFilterLPF[axis]; softLpfFilter[axis] = &gyroFilterLPF[axis];
biquadFilterInitLPF(softLpfFilter[axis], gyroConfig->gyro_soft_lpf_hz, gyro.targetLooptime); biquadFilterInitLPF(softLpfFilter[axis], gyroConfig->gyro_soft_lpf_hz, gyro.targetLooptime);
} }
} else if (gyroConfig->gyro_soft_lpf_type == FILTER_BIQUAD) { } else if (gyroConfig->gyro_soft_lpf_type == FILTER_PT1) {
softLpfFilterApplyFn = (filterApplyFnPtr)pt1FilterApply; softLpfFilterApplyFn = (filterApplyFnPtr)pt1FilterApply;
const float gyroDt = (float) gyro.targetLooptime * 0.000001f; const float gyroDt = (float) gyro.targetLooptime * 0.000001f;
for (int axis = 0; axis < 3; axis++) { for (int axis = 0; axis < 3; axis++) {