Allow re-initialising dynamic notch #10662
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klutvott123
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mikeller
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Apr 26, 2021
src/main/sensors/gyro.h
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| @@ -201,8 +201,8 @@ typedef struct gyroConfig_s { | |||
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| uint8_t gyro_filter_debug_axis; | |||
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| uint8_t gyrosDetected; // What gyros should detection be attempted for on startup. Automatically set on first startup. | |||
| uint8_t dyn_lpf_curve_expo; // set the curve for dynamic gyro lowpass filter | |||
| uint8_t gyrosDetected; // What gyros should detection be attempted for on startup. Automatically set on first startup. | |||
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This is going the wrong way - single space should be used.
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Changed all of them to single use a single space.
| { | ||
| #ifdef USE_MULTI_GYRO |
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Looks like this code is entirely unneeded and a remnant from a time when gyroDataAnalyseStateInit() was called once for the initialisation of each gyro...
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ctzsnooze
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mikeller
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Currently the dynamic notch is the only filter that can't be re-initialised without a reboot. The reason is that
gyroDataAnalyseInit()is allowed to run only once. I can only see two places where this is used and that's one time ininit()and after receiving updated filter parameters through MSP.When tuning the dynamic notch parameters without rebooting nothing would happen. Then there may be too little filtering and possible flyaways on the next flight.
Removed the check that ony allows it to run once and combined
gyroDataAnalyseStateInit()andgyroDataAnalyseInit()to reclaim some flash.