[rpm_sensor] filter docs and defaults

paparazzi · Jul 28, 2016 · bd8422a · bd8422a
1 parent d95d147
commit bd8422a
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/conf/modules/rpm_sensor.xml b/conf/modules/rpm_sensor.xml
@@ -7,6 +7,7 @@
     </description>
     <configure name="RPM_PWM_CHANNEL" value="PWM_INPUTX" description="Select PWM input channel for RPM sensor"/>
     <define name="RPM_PULSE_PER_RND" value="14" description="Amount of pulses per round"/>
+    <define name="RPM_FILTER_TAU" value="0.3" description="1/cut-off-frequency = filter time"/>
   </doc>
   <depends>pwm_meas</depends>
   <header>

diff --git a/sw/airborne/modules/sensors/rpm_sensor.c b/sw/airborne/modules/sensors/rpm_sensor.c
@@ -31,6 +31,11 @@
 
 static struct FirstOrderLowPass rpm_lp;
 
+#ifndef RPM_FILTER_TAU
+#define RPM_FILTER_TAU RPM_SENSOR_PERIODIC_PERIOD
+#endif
+
+
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
@@ -44,7 +49,7 @@ static void rpm_sensor_send_motor(struct transport_tx *trans, struct link_device
 /* Initialize the RPM measurement by configuring the telemetry */
 void rpm_sensor_init(void)
 {
-  init_first_order_low_pass(&rpm_lp, 0.3, RPM_SENSOR_PERIODIC_PERIOD, 0);
+  init_first_order_low_pass(&rpm_lp, RPM_FILTER_TAU, RPM_SENSOR_PERIODIC_PERIOD, 0);
 
 #if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_MOTOR, rpm_sensor_send_motor);