Fixes issue 1789
This commit is contained in:
parent
6a363c8590
commit
c7835f781d
|
@ -216,10 +216,10 @@ void gyroInit(const gyroConfig_t *gyroConfigToUse)
|
||||||
static biquadFilter_t gyroFilterNotch_1[XYZ_AXIS_COUNT];
|
static biquadFilter_t gyroFilterNotch_1[XYZ_AXIS_COUNT];
|
||||||
static biquadFilter_t gyroFilterNotch_2[XYZ_AXIS_COUNT];
|
static biquadFilter_t gyroFilterNotch_2[XYZ_AXIS_COUNT];
|
||||||
|
|
||||||
|
gyroConfig = gyroConfigToUse;
|
||||||
gyro.targetLooptime = gyroSetSampleRate(gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom); // Set gyro sample rate before initialisation
|
gyro.targetLooptime = gyroSetSampleRate(gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom); // Set gyro sample rate before initialisation
|
||||||
gyro.dev.lpf = gyroConfig->gyro_lpf;
|
gyro.dev.lpf = gyroConfig->gyro_lpf;
|
||||||
gyro.dev.init(&gyro.dev);
|
gyro.dev.init(&gyro.dev);
|
||||||
gyroConfig = gyroConfigToUse;
|
|
||||||
|
|
||||||
softLpfFilterApplyFn = nullFilterApply;
|
softLpfFilterApplyFn = nullFilterApply;
|
||||||
notchFilter1ApplyFn = nullFilterApply;
|
notchFilter1ApplyFn = nullFilterApply;
|
||||||
|
|
|
@ -46,9 +46,9 @@ typedef struct gyroConfig_s {
|
||||||
sensor_align_e gyro_align; // gyro alignment
|
sensor_align_e gyro_align; // gyro alignment
|
||||||
uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
|
uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
|
||||||
uint8_t gyro_sync_denom; // Gyro sample divider
|
uint8_t gyro_sync_denom; // Gyro sample divider
|
||||||
|
uint8_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
|
||||||
uint8_t gyro_soft_lpf_type;
|
uint8_t gyro_soft_lpf_type;
|
||||||
uint8_t gyro_soft_lpf_hz;
|
uint8_t gyro_soft_lpf_hz;
|
||||||
uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
|
|
||||||
uint16_t gyro_soft_notch_hz_1;
|
uint16_t gyro_soft_notch_hz_1;
|
||||||
uint16_t gyro_soft_notch_cutoff_1;
|
uint16_t gyro_soft_notch_cutoff_1;
|
||||||
uint16_t gyro_soft_notch_hz_2;
|
uint16_t gyro_soft_notch_hz_2;
|
||||||
|
|
Loading…
Reference in New Issue