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Fixes issue 1789

This commit is contained in:
Martin Budden 2016-12-10 10:03:18 +00:00
parent 6a363c8590
commit c7835f781d
2 changed files with 2 additions and 2 deletions
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2
src/main/sensors/gyro.c
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@ -216,10 +216,10 @@ void gyroInit(const gyroConfig_t *gyroConfigToUse)
static biquadFilter_t gyroFilterNotch_1[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.dev.lpf = gyroConfig->gyro_lpf;
gyro.dev.init(&gyro.dev);
gyroConfig = gyroConfigToUse;
softLpfFilterApplyFn = nullFilterApply;
notchFilter1ApplyFn = nullFilterApply;

2
src/main/sensors/gyro.h
View File

@ -46,9 +46,9 @@ typedef struct gyroConfig_s {
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 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_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_cutoff_1;
uint16_t gyro_soft_notch_hz_2;