diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index 672d39fc3a..436871abb4 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -1229,10 +1229,12 @@ static bool blackboxWriteSysinfo(void) { BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_roll", "%d", gyroConfig()->gyro_lowpass_hz[ROLL]); BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_pitch", "%d", gyroConfig()->gyro_lowpass_hz[PITCH]); BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_yaw", "%d", gyroConfig()->gyro_lowpass_hz[YAW]); +#ifdef USE_GYRO_LPF2 BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_type", "%d", gyroConfig()->gyro_lowpass2_type); BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_roll", "%d", gyroConfig()->gyro_lowpass2_hz[ROLL]); BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_pitch", "%d", gyroConfig()->gyro_lowpass2_hz[PITCH]); BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_yaw", "%d", gyroConfig()->gyro_lowpass2_hz[YAW]); +#endif BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d", gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_hz_2); BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d", gyroConfig()->gyro_soft_notch_cutoff_1, diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c index e479a1fa17..50c0bfc589 100644 --- a/src/main/cms/cms_menu_imu.c +++ b/src/main/cms/cms_menu_imu.c @@ -493,9 +493,12 @@ static uint8_t gyroConfig_gyro_lowpass1_type; static uint16_t gyroConfig_gyro_lowpass_hz_roll; static uint16_t gyroConfig_gyro_lowpass_hz_pitch; static uint16_t gyroConfig_gyro_lowpass_hz_yaw; +#ifdef USE_GYRO_LPF2 +static uint8_t gyroConfig_gyro_lowpass2_type; static uint16_t gyroConfig_gyro_lowpass2_hz_roll; static uint16_t gyroConfig_gyro_lowpass2_hz_pitch; static uint16_t gyroConfig_gyro_lowpass2_hz_yaw; +#endif #ifdef USE_GYRO_DATA_ANALYSE static uint16_t gyroConfig_gyro_q; static uint8_t gyroConfig_gyro_notch_count; @@ -524,9 +527,12 @@ static long cmsx_menuGyro_onEnter(void) { gyroConfig_gyro_lowpass_hz_roll = gyroConfig()->gyro_lowpass_hz[ROLL]; gyroConfig_gyro_lowpass_hz_pitch = gyroConfig()->gyro_lowpass_hz[PITCH]; gyroConfig_gyro_lowpass_hz_yaw = gyroConfig()->gyro_lowpass_hz[YAW]; +#ifdef USE_GYRO_LPF2 + gyroConfig_gyro_lowpass2_type = gyroConfig()->gyro_lowpass2_type; gyroConfig_gyro_lowpass2_hz_roll = gyroConfig()->gyro_lowpass2_hz[ROLL]; gyroConfig_gyro_lowpass2_hz_pitch = gyroConfig()->gyro_lowpass2_hz[PITCH]; gyroConfig_gyro_lowpass2_hz_yaw = gyroConfig()->gyro_lowpass2_hz[YAW]; +#endif #ifdef USE_GYRO_DATA_ANALYSE gyroConfig_gyro_q = gyroConfig()->dyn_notch_q; gyroConfig_gyro_notch_count = gyroConfig()->dyn_notch_count; @@ -558,9 +564,12 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self) { gyroConfigMutable()->gyro_lowpass_hz[ROLL] = gyroConfig_gyro_lowpass_hz_roll; gyroConfigMutable()->gyro_lowpass_hz[PITCH] = gyroConfig_gyro_lowpass_hz_pitch; gyroConfigMutable()->gyro_lowpass_hz[YAW] = gyroConfig_gyro_lowpass_hz_yaw; +#ifdef USE_GYRO_LPF2 + gyroConfigMutable()->gyro_lowpass2_type = gyroConfig_gyro_lowpass2_type; gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = gyroConfig_gyro_lowpass2_hz_roll; gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = gyroConfig_gyro_lowpass2_hz_pitch; gyroConfigMutable()->gyro_lowpass2_hz[YAW] = gyroConfig_gyro_lowpass2_hz_yaw; +#endif #ifdef USE_GYRO_DATA_ANALYSE gyroConfigMutable()->dyn_notch_q = gyroConfig_gyro_q; gyroConfigMutable()->dyn_notch_count = gyroConfig_gyro_notch_count; @@ -589,11 +598,12 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self) { static OSD_Entry cmsx_menuFilterGlobalEntries[] = { { "-- FILTER GLB --", OME_Label, NULL, NULL, 0 }, + { "GYRO LPF TYPE", OME_TAB, NULL, &(OSD_TAB_t) { (uint8_t *) &gyroConfig_gyro_lowpass1_type, 4, cms_FilterType }, 0 }, { "GYRO LPF ROLL", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_roll, 0, 16000, 1 }, 0 }, { "GYRO LPF PITCH", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_pitch, 0, 16000, 1 }, 0 }, { "GYRO LPF YAW", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_yaw, 0, 16000, 1 }, 0 }, - { "GYRO LPF TYPE", OME_TAB, NULL, &(OSD_TAB_t) { (uint8_t *) &gyroConfig_gyro_lowpass1_type, 4, cms_FilterType }, 0 }, #ifdef USE_GYRO_LPF2 + { "GYRO LPF2 TYPE", OME_TAB, NULL, &(OSD_TAB_t) { (uint8_t *) &gyroConfig_gyro_lowpass2_type, 4, cms_FilterType }, 0 }, { "GYRO LPF2 ROLL", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_roll, 0, 16000, 1 }, 0 }, { "GYRO LPF2 PITCH", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_pitch, 0, 16000, 1 }, 0 }, { "GYRO LPF2 YAW", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_yaw, 0, 16000, 1 }, 0 }, diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index fcb456b3fc..be511b02f7 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -197,10 +197,8 @@ void resetPidProfile(pidProfile_t *pidProfile) { .dterm_ABG_half_life = 50, .emuGravityGain = 50, .angle_filter = 100, -#ifdef USE_GYRO_DATA_ANALYSE .dtermDynNotch = false, .dterm_dyn_notch_q = 400, -#endif ); } @@ -237,7 +235,9 @@ static FAST_RAM filterApplyFnPtr angleSetpointFilterApplyFn = nullFilterApply; static FAST_RAM_ZERO_INIT pt1Filter_t angleSetpointFilter[2]; static FAST_RAM filterApplyFnPtr dtermABGapplyFn = nullFilterApply; static FAST_RAM_ZERO_INIT alphaBetaGammaFilter_t dtermABG[XYZ_AXIS_COUNT]; +#ifdef USE_GYRO_DATA_ANALYSE static FAST_RAM_ZERO_INIT biquadFilter_t dtermNotch[XYZ_AXIS_COUNT][5]; +#endif #if defined(USE_ITERM_RELAX) static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[XYZ_AXIS_COUNT]; @@ -673,7 +673,9 @@ static FAST_RAM_ZERO_INIT float stickMovement[XYZ_AXIS_COUNT]; static FAST_RAM_ZERO_INIT float lastRcDeflectionAbs[XYZ_AXIS_COUNT]; static FAST_RAM_ZERO_INIT float previousError[XYZ_AXIS_COUNT]; static FAST_RAM_ZERO_INIT float previousMeasurement[XYZ_AXIS_COUNT]; +#ifdef USE_GYRO_DATA_ANALYSE static FAST_RAM_ZERO_INIT float previousNotchCenterFreq[XYZ_AXIS_COUNT][5]; +#endif static FAST_RAM_ZERO_INIT timeUs_t crashDetectedAtUs; void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs) { diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h index bfe63e31f0..ea9f16d811 100644 --- a/src/main/flight/pid.h +++ b/src/main/flight/pid.h @@ -155,10 +155,8 @@ typedef struct pidProfile_s { uint16_t dterm_ABG_alpha; uint16_t dterm_ABG_boost; uint8_t dterm_ABG_half_life; -#ifdef USE_GYRO_DATA_ANALYSE uint8_t dtermDynNotch; uint16_t dterm_dyn_notch_q; -#endif } pidProfile_t; #ifndef USE_OSD_SLAVE diff --git a/src/main/interface/msp.c b/src/main/interface/msp.c index 9b3dd142da..684b85e213 100644 --- a/src/main/interface/msp.c +++ b/src/main/interface/msp.c @@ -1194,11 +1194,21 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) { sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[ROLL]); sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[PITCH]); sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[YAW]); +#ifdef USE_GYRO_LPF2 sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[ROLL]); sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[PITCH]); sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[YAW]); +#else + sbufWriteU16(dst, 0); + sbufWriteU16(dst, 0); + sbufWriteU16(dst, 0); +#endif sbufWriteU8(dst, gyroConfig()->gyro_lowpass_type); +#ifdef USE_GYRO_LPF2 sbufWriteU8(dst, gyroConfig()->gyro_lowpass2_type); +#else + sbufWriteU8(dst, 0); +#endif sbufWriteU16(dst, currentPidProfile->dFilter[ROLL].dLpf2); sbufWriteU16(dst, currentPidProfile->dFilter[PITCH].dLpf2); sbufWriteU16(dst, currentPidProfile->dFilter[YAW].dLpf2); @@ -1833,17 +1843,10 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) { currentPidProfile->dFilter[YAW].dLpf2 = sbufReadU16(src); //MSP 1.51 removes SmartDTermSmoothing and WitchCraft //MSP 1.51 adds and refactors dynamic_filter -#ifdef USE_GYRO_DATA_ANALYSE gyroConfigMutable()->dyn_notch_count = sbufReadU8(src); //dynamic_gyro_notch_count gyroConfigMutable()->dyn_notch_q = sbufReadU16(src); gyroConfigMutable()->dyn_notch_min_hz = sbufReadU16(src); gyroConfigMutable()->dyn_notch_max_hz = sbufReadU16(src); //dynamic_gyro_notch_max_hz -#else - sbufReadU8(src); - sbufReadU16(src); - sbufReadU16(src); - sbufReadU16(src); -#endif //end 1.51 add/refactor dynamic_filter //MSP 1.51 gyroConfigMutable()->gyro_ABG_alpha = sbufReadU16(src); @@ -1855,13 +1858,8 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) { currentPidProfile->dterm_ABG_half_life = sbufReadU8(src); //end MSP 1.51 //MSP 1.51 dynamic dTerm notch -#ifdef USE_GYRO_DATA_ANALYSE currentPidProfile->dtermDynNotch = sbufReadU8(src); //dterm_dyn_notch_enable currentPidProfile->dterm_dyn_notch_q = sbufReadU16(src); //dterm_dyn_notch_q -#else - sbufReadU8(src); - sbufReadU16(src); -#endif //end MSP 1.51 dynamic dTerm notch } // reinitialize the gyro filters with the new values diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c index 04d85eba5f..9cedcd3a45 100644 --- a/src/main/interface/settings.c +++ b/src/main/interface/settings.c @@ -394,11 +394,9 @@ static const char *const lookupTableMixerImplType[] = { "LEGACY", "SMOOTH", "2PASS" }; -#ifdef USE_GYRO_DATA_ANALYSE static const char *const lookupTableDynNotchAxisType[] = { "RP", "RPY" }; -#endif #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) } @@ -489,9 +487,7 @@ const lookupTableEntry_t lookupTables[] = { LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming), #endif LOOKUP_TABLE_ENTRY(lookupTableMixerImplType), -#ifdef USE_GYRO_DATA_ANALYSE LOOKUP_TABLE_ENTRY(lookupTableDynNotchAxisType), -#endif }; #undef LOOKUP_TABLE_ENTRY @@ -513,10 +509,12 @@ const clivalue_t valueTable[] = { { "gyro_lowpass_hz_pitch", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz[PITCH]) }, { "gyro_lowpass_hz_yaw", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz[YAW]) }, +#ifdef USE_GYRO_LPF2 { "gyro_lowpass2_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FILTER_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_type) }, { "gyro_lowpass2_hz_roll", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[ROLL]) }, { "gyro_lowpass2_hz_pitch", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[PITCH]) }, { "gyro_lowpass2_hz_yaw", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[YAW]) }, +#endif { "gyro_abg_alpha", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_ABG_alpha) }, { "gyro_abg_boost", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 2000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_ABG_boost) }, diff --git a/src/main/interface/settings.h b/src/main/interface/settings.h index ab5ea4482e..e8a8269834 100644 --- a/src/main/interface/settings.h +++ b/src/main/interface/settings.h @@ -112,9 +112,7 @@ typedef enum { TABLE_OSD_LOGO_ON_ARMING, #endif TABLE_MIXER_IMPL_TYPE, -#ifdef USE_GYRO_DATA_ANALYSE TABLE_DYN_NOTCH_AXIS_TYPE, -#endif LOOKUP_TABLE_COUNT } lookupTableIndex_e; diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index 96f83d2817..9ec6a642fc 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -159,8 +159,10 @@ typedef struct gyroSensor_s { gyroLowpassFilter_t lowpassFilter[XYZ_AXIS_COUNT]; // lowpass2 gyro soft filter +#ifdef USE_GYRO_LPF2 filterApplyFnPtr lowpass2FilterApplyFn; gyroLowpassFilter_t lowpass2Filter[XYZ_AXIS_COUNT]; +#endif // ABG filter filterApplyFnPtr gyroABGFilterApplyFn; @@ -251,13 +253,11 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig, .checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES, .yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO, .yaw_spin_threshold = 1950, -#ifdef USE_GYRO_DATA_ANALYSE .dyn_notch_axis = RPY, .dyn_notch_q = 400, .dyn_notch_count = 3, // default of 3 is similar to the matrix filter. .dyn_notch_min_hz = 150, .dyn_notch_max_hz = 600, -#endif .imuf_mode = GTBCM_GYRO_ACC_FILTER_F, .imuf_rate = IMUF_RATE_16K, .imuf_roll_q = 6000, @@ -309,13 +309,11 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig, .gyro_offset_yaw = 0, .yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO, .yaw_spin_threshold = 1950, -#ifdef USE_GYRO_DATA_ANALYSE .dyn_notch_axis = RPY, .dyn_notch_q = 350, .dyn_notch_count = 3, // default of 3 is similar to the matrix filter. .dyn_notch_min_hz = 150, .dyn_notch_max_hz = 600, -#endif .gyro_ABG_alpha = 0, .gyro_ABG_boost = 275, .gyro_ABG_half_life = 50, @@ -762,6 +760,7 @@ void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int type) { lpfHz[PITCH] = gyroConfig()->gyro_lowpass_hz[PITCH]; lpfHz[YAW] = gyroConfig()->gyro_lowpass_hz[YAW]; break; +#ifdef USE_GYRO_LPF2 case FILTER_LOWPASS2: lowpassFilterApplyFn = &gyroSensor->lowpass2FilterApplyFn; lowpassFilter = gyroSensor->lowpass2Filter; @@ -769,6 +768,7 @@ void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int type) { lpfHz[PITCH] = gyroConfig()->gyro_lowpass2_hz[PITCH]; lpfHz[YAW] = gyroConfig()->gyro_lowpass2_hz[YAW]; break; +#endif default: return; } @@ -907,11 +907,13 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor) { FILTER_LOWPASS, gyroConfig()->gyro_lowpass_type ); +#ifdef USE_GYRO_LPF2 gyroInitLowpassFilterLpf( gyroSensor, FILTER_LOWPASS2, gyroConfig()->gyro_lowpass2_type ); +#endif gyroInitFilterNotch1(gyroSensor, gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_cutoff_1); gyroInitFilterNotch2(gyroSensor, gyroConfig()->gyro_soft_notch_hz_2, gyroConfig()->gyro_soft_notch_cutoff_2); #ifdef USE_GYRO_DATA_ANALYSE diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h index 1a45353d26..671d7b7cbd 100644 --- a/src/main/sensors/gyro.h +++ b/src/main/sensors/gyro.h @@ -114,12 +114,10 @@ typedef struct smithPredictor_s { } smithPredictor_t; #endif // USE_SMITH_PREDICTOR -#ifdef USE_GYRO_DATA_ANALYSE typedef enum { RP = 0, RPY = 1 } dynamicGyroAxisType_e; -#endif typedef struct gyroConfig_s { uint8_t gyro_align; // gyro alignment @@ -154,13 +152,11 @@ typedef struct gyroConfig_s { int16_t yaw_spin_threshold; uint16_t gyroCalibrationDuration; // Gyro calibration duration in 1/100 second -#if defined(USE_GYRO_DATA_ANALYSE) uint8_t dyn_notch_axis; uint16_t dyn_notch_q; uint8_t dyn_notch_count; uint16_t dyn_notch_min_hz; uint16_t dyn_notch_max_hz; -#endif #if defined(USE_GYRO_IMUF9001) uint16_t imuf_mode; uint16_t imuf_rate; diff --git a/src/main/sensors/gyro_filter_impl.h b/src/main/sensors/gyro_filter_impl.h index 2008434496..4bf1060e19 100644 --- a/src/main/sensors/gyro_filter_impl.h +++ b/src/main/sensors/gyro_filter_impl.h @@ -36,7 +36,9 @@ static FAST_CODE void GYRO_FILTER_FUNCTION_NAME(gyroSensor_t *gyroSensor) { #endif // apply static notch filters and software lowpass filters +#ifdef USE_GYRO_LPF2 gyroADCf = gyroSensor->lowpass2FilterApplyFn((filter_t *)&gyroSensor->lowpass2Filter[axis], gyroADCf); +#endif gyroADCf = gyroSensor->lowpassFilterApplyFn((filter_t *)&gyroSensor->lowpassFilter[axis], gyroADCf); gyroADCf = gyroSensor->notchFilter1ApplyFn((filter_t *)&gyroSensor->notchFilter1[axis], gyroADCf); gyroADCf = gyroSensor->notchFilter2ApplyFn((filter_t *)&gyroSensor->notchFilter2[axis], gyroADCf); diff --git a/src/main/target/NBDBBBLV2/config.c b/src/main/target/NBDBBBLV2/config.c index 2c735aec79..407f0f6f97 100644 --- a/src/main/target/NBDBBBLV2/config.c +++ b/src/main/target/NBDBBBLV2/config.c @@ -168,9 +168,11 @@ void targetConfiguration(void) gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200; gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200; gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200; +#ifdef USE_GYRO_LPF2 gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250; gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250; gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250; +#endif gyroConfigMutable()->yaw_spin_threshold = 1950; rxConfigMutable()->mincheck = 1075; rxConfigMutable()->maxcheck = 1900; diff --git a/src/main/target/NBDBBBLV3/config.c b/src/main/target/NBDBBBLV3/config.c index 27f7b894ad..0774446586 100644 --- a/src/main/target/NBDBBBLV3/config.c +++ b/src/main/target/NBDBBBLV3/config.c @@ -168,9 +168,11 @@ void targetConfiguration(void) gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200; gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200; gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200; +#ifdef USE_GYRO_LPF2 gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250; gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250; gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250; +#endif gyroConfigMutable()->yaw_spin_threshold = 1950; rxConfigMutable()->mincheck = 1075; rxConfigMutable()->maxcheck = 1900; diff --git a/src/main/target/NBDHMBF41S/config.c b/src/main/target/NBDHMBF41S/config.c index 493da570e9..92fe2d8b70 100644 --- a/src/main/target/NBDHMBF41S/config.c +++ b/src/main/target/NBDHMBF41S/config.c @@ -114,7 +114,9 @@ void targetConfiguration(void) gyroConfigMutable()->gyro_lowpass_type = FILTER_PT1; gyroConfigMutable()->gyro_lowpass_hz = 200; +#ifdef USE_GYRO_LPF2 gyroConfigMutable()->gyro_lowpass2_hz = 200; +#endif gyroConfigMutable()->yaw_spin_threshold = 1950; gyroConfigMutable()->dyn_lpf_gyro_min_hz = 160; gyroConfigMutable()->dyn_lpf_gyro_max_hz = 400; diff --git a/src/main/target/NBDHMBF4PRO/config.c b/src/main/target/NBDHMBF4PRO/config.c index 42862bed35..fd309465bc 100644 --- a/src/main/target/NBDHMBF4PRO/config.c +++ b/src/main/target/NBDHMBF4PRO/config.c @@ -149,9 +149,11 @@ void targetConfiguration(void) { gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200; gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200; gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200; +#ifdef USE_GYRO_LPF2 gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250; gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250; gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250; +#endif gyroConfigMutable()->yaw_spin_threshold = 1950; // gyroConfigMutable()->dyn_lpf_gyro_min_hz = 200; // gyroConfigMutable()->dyn_lpf_gyro_max_hz = 500; diff --git a/src/test/unit/sensor_gyro_unittest.cc b/src/test/unit/sensor_gyro_unittest.cc index fc2dbc20e4..0ee0877b84 100644 --- a/src/test/unit/sensor_gyro_unittest.cc +++ b/src/test/unit/sensor_gyro_unittest.cc @@ -116,7 +116,9 @@ TEST(SensorGyro, Update) pgResetAll(); // turn off filters gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 0; +#ifdef USE_GYRO_LPF2 gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 0; +#endif gyroConfigMutable()->gyro_soft_notch_hz_1 = 0; gyroConfigMutable()->gyro_soft_notch_hz_2 = 0; gyroInit();