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Clean up lowpass patch

This commit is contained in:
Joel Fuster 2015-01-02 17:16:55 -05:00
parent 0043fb4b12
commit 4bcedab3e9
3 changed files with 4 additions and 46 deletions
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2
src/main/config/config.c
View File

@ -428,7 +428,7 @@ static void resetConf(void)
currentProfile->mixerConfig.yaw_direction = 1; currentProfile->mixerConfig.yaw_direction = 1;
currentProfile->mixerConfig.tri_unarmed_servo = 1; currentProfile->mixerConfig.tri_unarmed_servo = 1;
currentProfile->mixerConfig.servo_lowpass_freq_idx = 21; currentProfile->mixerConfig.servo_lowpass_freq_idx = 99;
currentProfile->mixerConfig.servo_lowpass_enable = 0; currentProfile->mixerConfig.servo_lowpass_enable = 0;
// gimbal // gimbal

44
src/main/flight/mixer.c
View File

@ -25,13 +25,12 @@
#include "common/axis.h" #include "common/axis.h"
#include "common/maths.h" #include "common/maths.h"
#if 1
#include "drivers/gpio.h" #include "drivers/gpio.h"
#include "drivers/timer.h" #include "drivers/timer.h"
#include "drivers/pwm_output.h" #include "drivers/pwm_output.h"
#include "drivers/pwm_mapping.h" #include "drivers/pwm_mapping.h"
#endif
#include "rx/rx.h" #include "rx/rx.h"
#include "io/gimbal.h" #include "io/gimbal.h"
#include "io/escservo.h" #include "io/escservo.h"
@ -232,7 +231,6 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
gimbalConfig = gimbalConfigToUse; gimbalConfig = gimbalConfigToUse;
} }
#if 1
int16_t determineServoMiddleOrForwardFromChannel(int nr) int16_t determineServoMiddleOrForwardFromChannel(int nr)
{ {
@ -659,46 +657,6 @@ bool isMixerUsingServos(void)
{ {
return useServo; return useServo;
} }
#endif
/*
static float notchFilter(notchFilter_t *filter, float in, int16_t freqIdx )
{
int16_t coefIdx;
float out;
if (freqIdx != filter->freqIdx) {
filter->init = false;
}
if (!filter->init) {
filter->freqIdx = freqIdx;
filter->freq = notch_table[filter->freqIdx][0];
filter->pCoef = &notch_table[filter->freqIdx][1];
for (coefIdx = 0; coefIdx < NOTCH_FILTER_COEFS; coefIdx++) {
filter->in[coefIdx] = in;
filter->out[coefIdx] = in;
}
filter->init = true;
}
filter->in[2] = filter->in[1];
filter->in[1] = filter->in[0];
filter->in[0] = in;
filter->out[2] = filter->out[1];
filter->out[1] = filter->out[0];
out = filter->in[0] * filter->pCoef[0] +
filter->in[1] * filter->pCoef[1] +
filter->in[2] * filter->pCoef[2] -
(filter->out[1] * filter->pCoef[3] +
filter->out[2] * filter->pCoef[4]);
filter->out[0] = out;
return out;
}
*/
static float lowpass(lowpass_t *filter, float in, int16_t freqIdx ) static float lowpass(lowpass_t *filter, float in, int16_t freqIdx )
{ {