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Merge pull request #4096 from martinbudden/bf_gyro_slew_runtime 

Remove gyro runtime slew filter check
This commit is contained in:
Martin Budden 2017-09-08 15:43:46 +01:00 committed by GitHub
parent 759788fe2d fb04fb1216
commit fb0a21ea2a
1 changed files with 0 additions and 18 deletions
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18
src/main/sensors/gyro.c
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@ -76,7 +76,6 @@
gyro_t gyro; gyro_t gyro;
static uint8_t gyroDebugMode; static uint8_t gyroDebugMode;
static bool gyroUseSlewFilter;
typedef struct gyroCalibration_s { typedef struct gyroCalibration_s {
@ -364,18 +363,6 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor)
break; break;
} }
switch (gyroHardware) {
case GYRO_ICM20601:
case GYRO_ICM20602:
case GYRO_ICM20608G:
case GYRO_ICM20689:
gyroUseSlewFilter = true;
break;
default:
gyroUseSlewFilter = false;
break;
}
// Must set gyro targetLooptime before gyroDev.init and initialisation of filters // Must set gyro targetLooptime before gyroDev.init and initialisation of filters
gyro.targetLooptime = gyroSetSampleRate(&gyroSensor->gyroDev, gyroConfig()->gyro_lpf, gyroConfig()->gyro_sync_denom, gyroConfig()->gyro_use_32khz); gyro.targetLooptime = gyroSetSampleRate(&gyroSensor->gyroDev, gyroConfig()->gyro_lpf, gyroConfig()->gyro_sync_denom, gyroConfig()->gyro_use_32khz);
gyroSensor->gyroDev.lpf = gyroConfig()->gyro_lpf; gyroSensor->gyroDev.lpf = gyroConfig()->gyro_lpf;
@ -617,16 +604,11 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
int32_t gyroSlewLimiter(gyroSensor_t *gyroSensor, int axis) int32_t gyroSlewLimiter(gyroSensor_t *gyroSensor, int axis)
{ {
int32_t newRawGyro = (int32_t)gyroSensor->gyroDev.gyroADCRaw[axis]; int32_t newRawGyro = (int32_t)gyroSensor->gyroDev.gyroADCRaw[axis];
if (gyroUseSlewFilter == false) {
return newRawGyro;
}
if (abs(newRawGyro - gyroSensor->gyroDev.gyroADCRawPrevious[axis]) > (1<<14)) { if (abs(newRawGyro - gyroSensor->gyroDev.gyroADCRawPrevious[axis]) > (1<<14)) {
newRawGyro = gyroSensor->gyroDev.gyroADCRawPrevious[axis]; newRawGyro = gyroSensor->gyroDev.gyroADCRawPrevious[axis];
} else { } else {
gyroSensor->gyroDev.gyroADCRawPrevious[axis] = newRawGyro; gyroSensor->gyroDev.gyroADCRawPrevious[axis] = newRawGyro;
} }
return newRawGyro; return newRawGyro;
} }
#endif #endif