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AP_GyroFFT: allow HarmonicNotches to be compiled out of the code

This commit is contained in:
Peter Barker 2024-02-13 11:26:07 +11:00 committed by Andrew Tridgell
parent abd5d0e3e9
commit 2412749026
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_GyroFFT/AP_GyroFFT.cpp
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@ -271,6 +271,7 @@ void AP_GyroFFT::init(uint16_t loop_rate_hz)
return;
}
#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
// check for harmonics across all harmonic notch filters
// note that we only allow one harmonic notch filter linked to the FFT code
uint32_t harmonics = 0;
@ -308,6 +309,7 @@ void AP_GyroFFT::init(uint16_t loop_rate_hz)
_harmonic_multiplier = 2.0f;
}
}
#endif // AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
// initialise the HAL DSP subsystem
_state = hal.dsp->fft_init(_window_size, _fft_sampling_rate_hz, _num_frames);
@ -764,6 +766,7 @@ void AP_GyroFFT::stop_notch_tune()
return;
}
#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
if (!_ins->setup_throttle_gyro_harmonic_notch(harmonic, (float)_fft_min_hz.get(), _avg_throttle_out, harmonics)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "FFT: Unable to set throttle notch with %.1fHz/%.2f",
harmonic, _avg_throttle_out);
@ -775,6 +778,7 @@ void AP_GyroFFT::stop_notch_tune()
GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "FFT: Notch frequency %.1fHz and ref %.2f selected", harmonic, _avg_throttle_out);
AP_Notify::events.autotune_complete = true;
}
#endif // AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
}
// return the noise peak that is being tracked