rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Fixed array out of bounds issue - not all set.

This commit is contained in:
blckmn 2016-06-26 08:59:32 +10:00
parent 00c0ca7c71
commit d779daad2d
1 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
src/main/sensors/gyro.c
View File

@ -56,7 +56,7 @@ void useGyroConfig(gyroConfig_t *gyroConfigToUse, float gyro_lpf_hz)
} }
void initGyroFilterCoefficients(void) { void initGyroFilterCoefficients(void) {
int axis; int axis;
if (gyroLpfCutFreq && targetLooptime) { /* Initialisation needs to happen once samplingrate is known */ if (gyroLpfCutFreq && targetLooptime) { /* Initialisation needs to happen once samplingrate is known */
for (axis = 0; axis < 3; axis++) BiQuadNewLpf(gyroLpfCutFreq, &gyroFilterState[axis], targetLooptime); for (axis = 0; axis < 3; axis++) BiQuadNewLpf(gyroLpfCutFreq, &gyroFilterState[axis], targetLooptime);
gyroFilterStateIsSet = true; gyroFilterStateIsSet = true;
@ -137,8 +137,8 @@ static void applyGyroZero(void)
void gyroUpdate(void) void gyroUpdate(void)
{ {
int16_t gyroADCRaw[XYZ_AXIS_COUNT]; int16_t gyroADCRaw[XYZ_AXIS_COUNT];
int axis; int axis;
// range: +/- 8192; +/- 2000 deg/sec // range: +/- 8192; +/- 2000 deg/sec
if (!gyro.read(gyroADCRaw)) { if (!gyro.read(gyroADCRaw)) {
@ -161,13 +161,13 @@ void gyroUpdate(void)
if (gyroLpfCutFreq) { if (gyroLpfCutFreq) {
if (!gyroFilterStateIsSet) initGyroFilterCoefficients(); /* initialise filter coefficients */ if (!gyroFilterStateIsSet) initGyroFilterCoefficients(); /* initialise filter coefficients */
if (gyroFilterStateIsSet) { for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++){ if (gyroFilterStateIsSet) {
gyroADCf[axis] = applyBiQuadFilter((float) gyroADC[axis], &gyroFilterState[axis]); gyroADCf[axis] = applyBiQuadFilter((float) gyroADC[axis], &gyroFilterState[axis]);
gyroADC[axis] = lrintf(gyroADCf[axis]); gyroADC[axis] = lrintf(gyroADCf[axis]);
} else {
gyroADCf[axis] = gyroADC[axis]; // Otherwise float pid controller will not have gyro input when filter disabled
} }
} else {
gyroADCf[axis] = gyroADC[axis]; // Otherwise float pid controller will not have gyro input when filter disabled
} }
} }
} }