Fix simple Dterm diferentiator #4538
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
digitalentity
requested changes
Mar 24, 2019
digitalentity
approved these changes
Mar 24, 2019
| dtermCoeffs[3] = 0.0f; | ||
| dtermCoeffs[4] = 0.0f; | ||
| } | ||
|
|
||
| for (int axis = 0; axis < 3; ++ axis) { | ||
| firFilterInit(&pidState[axis].gyroRateFilter, pidState[axis].gyroRateBuf, PID_GYRO_RATE_BUF_LENGTH, dtermCoeffs); |
There was a problem hiding this comment.
In case of !use_dterm_fir_filter we can use length of 2 instead of PID_GYRO_RATE_BUF_LENGTH
|
OK, I'm merging as it is. Those 3 floats could be saved but overhead of managing buffer length at runtime in CLI and MSP seems like an overkill |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
FIR has to be inited and buffer initialized in case user changes FIR from OFF to ON. Other option is to have dummy function pointers or listeners in MSP and CLI to init it before PID loop is executed. Let's assume this is fine for now