| 79,7 → 79,7 |
|---|
| volatile int16_t rawGyroSum[3]; |
| volatile int16_t acc[3]; |
| volatile int16_t filteredAcc[2] = { 0,0 }; |
| volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
| // volatile int32_t stronglyFilteredAcc[3] = { 0,0,0 }; |
| |
| /* |
| * These 4 exported variables are zero-offset. The "PID" ones are used |
| 254,8 → 254,6 |
|---|
| uint8_t i, axis; |
| int16_t newrange; |
| |
| J5HIGH; |
| |
| // for various filters... |
| int16_t tempOffsetGyro, tempGyro; |
| |
| 273,8 → 271,10 |
|---|
| else |
| acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
| |
| /* |
| stronglyFilteredAcc[Z] = |
| (stronglyFilteredAcc[Z] * 99 + acc[Z] * 10) / 100; |
| */ |
| |
| break; |
| |
| 295,10 → 295,11 |
|---|
| filteredAcc[PITCH] = |
| (filteredAcc[PITCH] * (ACC_FILTER - 1) + acc[PITCH]) / ACC_FILTER; |
| |
| /* |
| stronglyFilteredAcc[PITCH] = |
| (stronglyFilteredAcc[PITCH] * 99 + acc[PITCH] * 10) / 100; |
| */ |
| |
| |
| measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
| break; |
| |
| 310,8 → 311,10 |
|---|
| filteredAcc[ROLL] = |
| (filteredAcc[ROLL] * (ACC_FILTER - 1) + acc[ROLL]) / ACC_FILTER; |
| |
| /* |
| stronglyFilteredAcc[ROLL] = |
| (stronglyFilteredAcc[ROLL] * 99 + acc[ROLL] * 10) / 100; |
| */ |
| |
| measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
| break; |
| 482,10 → 485,6 |
|---|
| // after full cycle stop further interrupts |
| if (state) |
| analog_start(); |
| else |
| J4LOW; |
| |
| J5LOW; |
| } |
| |
| void analog_calibrate(void) { |