void gyroUpdate(void)
{
int16_t gyroADCRaw[XYZ_AXIS_COUNT];
int axis;
// range: +/- 8192; +/- 2000 deg/sec
if (!gyro.read(gyroADCRaw)) {
return;
}
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
if (debugMode == DEBUG_GYRO) debug[axis] = gyroADC[axis];
gyroADC[axis] = gyroADCRaw[axis];
}
alignSensors(gyroADC, gyroADC, gyroAlign);
if (gyroLpfCutFreq) {
if (!gyroFilterStateIsSet) initGyroFilterCoefficients(); /* initialise filter coefficients */
if (gyroFilterStateIsSet) {
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) gyroADC[axis] = lrintf(applyBiQuadFilter((float) gyroADC[axis], &gyroFilterState[axis]));
}
}
if (!isGyroCalibrationComplete()) {
performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
}
applyGyroZero();
}
void gyroUpdate(void)
{
// range: +/- 8192; +/- 2000 deg/sec
if (!gyro.dev.read(&gyro.dev)) {
return;
}
// Prepare a copy of int32_t gyroADC for mangling to prevent overflow
gyro.gyroADC[X] = gyro.dev.gyroADCRaw[X];
gyro.gyroADC[Y] = gyro.dev.gyroADCRaw[Y];
gyro.gyroADC[Z] = gyro.dev.gyroADCRaw[Z];
if (gyroConfig->gyro_soft_lpf_hz) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyro.gyroADC[axis] = lrintf(biquadFilterApply(&gyroFilterLPF[axis], (float)gyro.gyroADC[axis]));
}
}
if (!isGyroCalibrationComplete()) {
performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
}
gyro.gyroADC[X] -= gyroZero[X];
gyro.gyroADC[Y] -= gyroZero[Y];
gyro.gyroADC[Z] -= gyroZero[Z];
alignSensors(gyro.gyroADC, gyro.dev.gyroAlign);
}
void updateAccelerationReadings(void)
{
if (!acc.read(accADCRaw)) {
return;
}
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) accADC[axis] = accADCRaw[axis];
if (accLpfCutHz) {
if (!accFilterInitialised) {
if (targetLooptime) { /* Initialisation needs to happen once sample rate is known */
for (int axis = 0; axis < 3; axis++) {
biquadFilterInit(&accFilterState[axis], accLpfCutHz, 0);
}
accFilterInitialised = true;
}
}
if (accFilterInitialised) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
accADC[axis] = lrintf(biquadFilterApply(&accFilterState[axis], (float) accADC[axis]));
}
}
}
if (!isAccelerationCalibrationComplete()) {
performAcclerationCalibration();
}
applyAccelerationZero(accZero, accGain);
alignSensors(accADC, accADC, accAlign);
}
void gyroGetADC(void)
{
// FIXME When gyro.read() fails due to i2c or other error gyroZero is continually re-applied to gyroADC resulting in a old reading that gets worse over time.
// range: +/- 8192; +/- 2000 deg/sec
gyro.read(gyroADC);
alignSensors(gyroADC, gyroADC, gyroAlign);
if (!isGyroCalibrationComplete()) {
performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
}
applyGyroZero();
}
void gyroUpdate(void)
{
int16_t gyroADCRaw[XYZ_AXIS_COUNT];
// range: +/- 8192; +/- 2000 deg/sec
if (!gyro.read(gyroADCRaw)) {
return;
}
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADC[axis] = gyroADCRaw[axis];
}
alignSensors(gyroADC, gyroADC, gyroAlign);
if (!isGyroCalibrationComplete()) {
performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
}
applyGyroZero();
if (gyroSoftLpfHz) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
if (debugMode == DEBUG_GYRO)
debug[axis] = gyroADC[axis];
if (gyroSoftLpfType == FILTER_BIQUAD)
gyroADCf[axis] = biquadFilterApply(&gyroFilterLPF[axis], (float) gyroADC[axis]);
else if (gyroSoftLpfType == FILTER_PT1)
gyroADCf[axis] = pt1FilterApply4(&gyroFilterPt1[axis], (float) gyroADC[axis], gyroSoftLpfHz, gyroDt);
else
gyroADCf[axis] = denoisingFilterUpdate(&gyroDenoiseState[axis], (float) gyroADC[axis]);
if (debugMode == DEBUG_NOTCH)
debug[axis] = lrintf(gyroADCf[axis]);
if (gyroSoftNotchHz1)
gyroADCf[axis] = biquadFilterApply(&gyroFilterNotch_1[axis], gyroADCf[axis]);
if (gyroSoftNotchHz2)
gyroADCf[axis] = biquadFilterApply(&gyroFilterNotch_2[axis], gyroADCf[axis]);
gyroADC[axis] = lrintf(gyroADCf[axis]);
}
} else {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++)
gyroADCf[axis] = gyroADC[axis];
}
}
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
acc.read(accADC);
alignSensors(accADC, accADC, accAlign);
if (!isAccelerationCalibrationComplete()) {
performAcclerationCalibration(rollAndPitchTrims);
}
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
performInflightAccelerationCalibration(rollAndPitchTrims);
}
applyAccelerationTrims(accelerationTrims);
}
void gyroUpdate(void)
{
// range: +/- 8192; +/- 2000 deg/sec
if (!gyro.read(gyroADCRaw)) {
return;
}
gyroADC[X] = gyroADCRaw[X];
gyroADC[Y] = gyroADCRaw[Y];
gyroADC[Z] = gyroADCRaw[Z];
alignSensors(gyroADC, gyroADC, gyroAlign);
if (!isGyroCalibrationComplete()) {
performAcclerationCalibration(gyroConfig()->gyroMovementCalibrationThreshold);
}
gyroADC[X] -= gyroZero[X];
gyroADC[Y] -= gyroZero[Y];
gyroADC[Z] -= gyroZero[Z];
if (gyroConfig()->gyro_soft_lpf_hz) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
if (debugMode == DEBUG_GYRO)
debug[axis] = gyroADC[axis];
if (gyroConfig()->gyro_soft_type == FILTER_BIQUAD)
gyroADCf[axis] = biquadFilterApply(&gyroFilterLPF[axis], (float) gyroADC[axis]);
else
gyroADCf[axis] = pt1FilterApply(&gyroFilterPt1[axis], (float) gyroADC[axis]);
if (debugMode == DEBUG_NOTCH)
debug[axis] = lrintf(gyroADCf[axis]);
if (gyroConfig()->gyro_soft_notch_hz)
gyroADCf[axis] = biquadFilterApply(&gyroFilterNotch[axis], gyroADCf[axis]);
gyroADC[axis] = lrintf(gyroADCf[axis]);
}
} else {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADCf[axis] = gyroADC[axis];
}
}
}
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
int16_t accADCRaw[XYZ_AXIS_COUNT];
if (!acc.read(accADCRaw)) {
return;
}
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
if (debugMode == DEBUG_ACCELEROMETER) debug[axis] = accADCRaw[axis];
accSmooth[axis] = accADCRaw[axis];
}
if (accLpfCutHz) {
if (!accFilterInitialised) {
if (accTargetLooptime) { /* Initialisation needs to happen once sample rate is known */
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, accTargetLooptime);
}
accFilterInitialised = true;
}
}
if (accFilterInitialised) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
accSmooth[axis] = lrintf(biquadFilterApply(&accFilter[axis], (float)accSmooth[axis]));
}
}
}
alignSensors(accSmooth, accSmooth, accAlign);
if (!isAccelerationCalibrationComplete()) {
performAcclerationCalibration(rollAndPitchTrims);
}
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
performInflightAccelerationCalibration(rollAndPitchTrims);
}
applyAccelerationTrims(accelerationTrims);
}
void gyroUpdate(void)
{
int8_t axis;
// range: +/- 8192; +/- 2000 deg/sec
if (!gyro.read(gyroADCRaw)) {
return;
}
// Prepare a copy of int32_t gyroADC for mangling to prevent overflow
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) gyroADC[axis] = gyroADCRaw[axis];
if (gyroLpfCutHz) {
if (!gyroFilterInitialised) {
if (targetLooptime) { /* Initialisation needs to happen once sample rate is known */
for (axis = 0; axis < 3; axis++) {
filterInitBiQuad(gyroLpfCutHz, &gyroFilterState[axis], 0);
}
gyroFilterInitialised = true;
}
}
if (gyroFilterInitialised) {
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADC[axis] = lrintf(filterApplyBiQuad((float) gyroADC[axis], &gyroFilterState[axis]));
}
}
}
alignSensors(gyroADC, gyroADC, gyroAlign);
if (!isGyroCalibrationComplete()) {
performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
}
applyGyroZero();
}
void gyroUpdate(void)
{
// range: +/- 8192; +/- 2000 deg/sec
if (!gyro.read(gyroADC)) {
return;
}
alignSensors(gyroADC, gyroADC, gyroAlign);
if (gyroLpfCutFreq) {
if (!gyroFilterStateIsSet) {
initGyroFilterCoefficients();
} else {
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) gyroADC[axis] = lrintf(applyBiQuadFilter((float) gyroADC[axis], &gyroBiQuadState[axis]));
}
}
if (!isGyroCalibrationComplete()) {
performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
}
applyGyroZero();
}
