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More fixes.

This commit is contained in:
Michael Keller 2018-06-05 16:32:59 +12:00
parent d299d8b51d
commit 93e02388c8
1 changed files with 14 additions and 12 deletions
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26
src/main/fc/fc_rc.c
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@ -333,19 +333,21 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
DEBUG_SET(DEBUG_RC_SMOOTHING, 3, defaultInputCutoffFrequency);
for (updatedChannel = 0; updatedChannel < PRIMARY_CHANNEL_COUNT; updatedChannel++) {
if (filterInitialized && (1 << updatedChannel) & interpolationChannels) {
switch (rxConfig()->rc_smoothing_input_type) {
case RC_SMOOTHING_INPUT_BIQUAD:
rcCommand[updatedChannel] = biquadFilterApply(&rcCommandFilterBiquad[updatedChannel], lastRxData[updatedChannel]);
break;
case RC_SMOOTHING_INPUT_PT1:
default:
rcCommand[updatedChannel] = pt1FilterApply(&rcCommandFilterPt1[updatedChannel], lastRxData[updatedChannel]);
break;
if ((1 << updatedChannel) & interpolationChannels) {
if (filterInitialized) {
switch (rxConfig()->rc_smoothing_input_type) {
case RC_SMOOTHING_INPUT_BIQUAD:
rcCommand[updatedChannel] = biquadFilterApply(&rcCommandFilterBiquad[updatedChannel], lastRxData[updatedChannel]);
break;
case RC_SMOOTHING_INPUT_PT1:
default:
rcCommand[updatedChannel] = pt1FilterApply(&rcCommandFilterPt1[updatedChannel], lastRxData[updatedChannel]);
break;
}
} else {
// If filter isn't initialized yet then use the actual unsmoothed rx channel data
rcCommand[updatedChannel] = lastRxData[updatedChannel];
}
} else {
// If filter isn't initialized yet then use the actual unsmoothed rx channel data
rcCommand[updatedChannel] = lastRxData[updatedChannel];
}
}