static void updateBatteryVoltage(void)
{
uint16_t vbatSample;
uint16_t vbatFiltered;
// store the battery voltage with some other recent battery voltage readings
vbatSample = vbatLatestADC = adcGetChannel(ADC_BATTERY);
vbatFiltered = (uint16_t)lowpassFixed(&lowpassFilter, vbatSample, VBATT_LPF_FREQ);
vbat = batteryAdcToVoltage(vbatFiltered);
}
void filterServos(void)
{
#ifdef USE_SERVOS
int16_t servoIdx;
#if defined(MIXER_DEBUG)
uint32_t startTime = micros();
#endif
if (mixerConfig->servo_lowpass_enable) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
servo[servoIdx] = (int16_t)lowpassFixed(&lowpassFilters[servoIdx], servo[servoIdx], mixerConfig->servo_lowpass_freq);
// Sanity check
servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
}
}
#if defined(MIXER_DEBUG)
debug[0] = (int16_t)(micros() - startTime);
#endif
#endif
}
