filtering shorter and cleaner notation

paparazzi · Nov 14, 2023 · b7bf55a · b7bf55a
1 parent 7c68b79
commit b7bf55a
Showing 1 changed file with 2 additions and 6 deletions.
diff --git a/sw/airborne/modules/rot_wing_drone/rot_wing_automation.c b/sw/airborne/modules/rot_wing_drone/rot_wing_automation.c
@@ -129,12 +129,8 @@ void update_wind_vector(void)
   VECT2_DIFF(rot_wing_a.windvect, *groundspeed, airspeed_v);
 
   // Filter the wind
-  update_butterworth_2_low_pass(&rot_wing_automation_wind_filter[0], rot_wing_a.windvect.x);
-  update_butterworth_2_low_pass(&rot_wing_automation_wind_filter[1], rot_wing_a.windvect.y);
-
-  // Update the filtered wind vector
-  rot_wing_a.windvect_f.x = rot_wing_automation_wind_filter[0].o[0];
-  rot_wing_a.windvect_f.y = rot_wing_automation_wind_filter[1].o[0];
+  rot_wing_a.windvect_f.x = update_butterworth_2_low_pass(&rot_wing_automation_wind_filter[0], rot_wing_a.windvect.x);
+  rot_wing_a.windvect_f.x = update_butterworth_2_low_pass(&rot_wing_automation_wind_filter[1], rot_wing_a.windvect.y);
 }
 
 // Function to visualize from flightplan, call repeadely