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

Merge pull request #6864 from etracer65/overflow_filter_order_fix 

Fix ordering of gyro filtering and overflow/yaw-spin logic
This commit is contained in:
Michael Keller 2018-10-03 00:47:33 +13:00 committed by GitHub
parent 63a85f7998 8e0128a2b2
commit eb7a3250c2
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/main/sensors/gyro.c
View File

@ -949,6 +949,12 @@ static FAST_CODE FAST_CODE_NOINLINE void gyroUpdateSensor(gyroSensor_t *gyroSens
return;
}
if (gyroDebugMode == DEBUG_NONE) {
filterGyro(gyroSensor);
} else {
filterGyroDebug(gyroSensor);
}
#ifdef USE_GYRO_OVERFLOW_CHECK
if (gyroConfig()->checkOverflow && !gyroHasOverflowProtection) {
checkForOverflow(gyroSensor, currentTimeUs);
@ -961,12 +967,6 @@ static FAST_CODE FAST_CODE_NOINLINE void gyroUpdateSensor(gyroSensor_t *gyroSens
}
#endif
if (gyroDebugMode == DEBUG_NONE) {
filterGyro(gyroSensor);
} else {
filterGyroDebug(gyroSensor);
}
#ifdef USE_GYRO_DATA_ANALYSE
if (isDynamicFilterActive()) {
gyroDataAnalyse(&gyroSensor->gyroAnalyseState, gyroSensor->notchFilterDyn);