Exemplos de initGyroFilterCoefficients em C++ (Cpp)

Exemplo n.º 1

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();
}

Exemplo n.º 2

Arquivo: gyro.c Projeto: AXH2O/raceflight

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();
}