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More changes from review & rebase 

Simplified disable logic to only use the feature() check in the gyro loop.

Changed 2000hz loop time constant to a define.
This commit is contained in:
Bruce Luckcuck 2018-07-31 10:33:35 -04:00
parent 25c6b038d9
commit 382ad2ad8f
4 changed files with 4 additions and 8 deletions
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5
src/main/fc/config.c
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@ -60,7 +60,6 @@
#include "sensors/acceleration.h" #include "sensors/acceleration.h"
#include "sensors/battery.h" #include "sensors/battery.h"
#include "sensors/gyro.h" #include "sensors/gyro.h"
#include "sensors/gyroanalyse.h"
#ifndef USE_OSD_SLAVE #ifndef USE_OSD_SLAVE
pidProfile_t *currentPidProfile; pidProfile_t *currentPidProfile;
@ -70,6 +69,8 @@ pidProfile_t *currentPidProfile;
#define RX_SPI_DEFAULT_PROTOCOL 0 #define RX_SPI_DEFAULT_PROTOCOL 0
#endif #endif
#define DYNAMIC_FILTER_MAX_SUPPORTED_LOOP_TIME HZ_TO_INTERVAL_US(2000)
PG_REGISTER_WITH_RESET_TEMPLATE(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 0); PG_REGISTER_WITH_RESET_TEMPLATE(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 0);
PG_RESET_TEMPLATE(pilotConfig_t, pilotConfig, PG_RESET_TEMPLATE(pilotConfig_t, pilotConfig,
@ -413,7 +414,7 @@ void validateAndFixGyroConfig(void)
{ {
#ifdef USE_GYRO_DATA_ANALYSE #ifdef USE_GYRO_DATA_ANALYSE
// Disable dynamic filter if gyro loop is less than 2KHz // Disable dynamic filter if gyro loop is less than 2KHz
if (!dynamicFilterAllowed()) { if (gyro.targetLooptime > DYNAMIC_FILTER_MAX_SUPPORTED_LOOP_TIME) {
featureClear(FEATURE_DYNAMIC_FILTER); featureClear(FEATURE_DYNAMIC_FILTER);
} }
#endif #endif

2
src/main/sensors/gyro.c
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@ -743,7 +743,7 @@ static void gyroInitFilterNotch2(gyroSensor_t *gyroSensor, uint16_t notchHz, uin
#ifdef USE_GYRO_DATA_ANALYSE #ifdef USE_GYRO_DATA_ANALYSE
static bool isDynamicFilterActive(void) static bool isDynamicFilterActive(void)
{ {
return feature(FEATURE_DYNAMIC_FILTER) && dynamicFilterAllowed(); return feature(FEATURE_DYNAMIC_FILTER);
} }
static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor) static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)

4
src/main/sensors/gyroanalyse.c
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@ -303,8 +303,4 @@ static FAST_CODE_NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state,
state->updateStep = (state->updateStep + 1) % STEP_COUNT; state->updateStep = (state->updateStep + 1) % STEP_COUNT;
} }
bool dynamicFilterAllowed(void) {
return (gyro.targetLooptime <= HZ_TO_INTERVAL_US(2000));
}
#endif // USE_GYRO_DATA_ANALYSE #endif // USE_GYRO_DATA_ANALYSE

1
src/main/sensors/gyroanalyse.h
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@ -61,4 +61,3 @@ void gyroDataAnalyseInit(void);
void gyroDataAnalyseStateInit(gyroAnalyseState_t *gyroAnalyse, uint32_t targetLooptime); void gyroDataAnalyseStateInit(gyroAnalyseState_t *gyroAnalyse, uint32_t targetLooptime);
void gyroDataAnalysePush(gyroAnalyseState_t *gyroAnalyse, int axis, float sample); void gyroDataAnalysePush(gyroAnalyseState_t *gyroAnalyse, int axis, float sample);
void gyroDataAnalyse(gyroAnalyseState_t *gyroAnalyse, biquadFilter_t *notchFilterDyn); void gyroDataAnalyse(gyroAnalyseState_t *gyroAnalyse, biquadFilter_t *notchFilterDyn);
bool dynamicFilterAllowed(void);