Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_GyroFFT: allow HarmonicNotches to be compiled out of the code

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_GyroFFT/AP_GyroFFT.cpp
View File

@ -271,6 +271,7 @@ void AP_GyroFFT::init(uint16_t loop_rate_hz)
return; return;
} }
#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
// check for harmonics across all harmonic notch filters // check for harmonics across all harmonic notch filters
// note that we only allow one harmonic notch filter linked to the FFT code // note that we only allow one harmonic notch filter linked to the FFT code
uint32_t harmonics = 0; uint32_t harmonics = 0;
@ -308,6 +309,7 @@ void AP_GyroFFT::init(uint16_t loop_rate_hz)
_harmonic_multiplier = 2.0f; _harmonic_multiplier = 2.0f;
} }
} }
#endif // AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
// initialise the HAL DSP subsystem // initialise the HAL DSP subsystem
_state = hal.dsp->fft_init(_window_size, _fft_sampling_rate_hz, _num_frames); _state = hal.dsp->fft_init(_window_size, _fft_sampling_rate_hz, _num_frames);
@ -764,6 +766,7 @@ void AP_GyroFFT::stop_notch_tune()
return; return;
} }
#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
if (!_ins->setup_throttle_gyro_harmonic_notch(harmonic, (float)_fft_min_hz.get(), _avg_throttle_out, harmonics)) { 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", GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "FFT: Unable to set throttle notch with %.1fHz/%.2f",
harmonic, _avg_throttle_out); 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); GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "FFT: Notch frequency %.1fHz and ref %.2f selected", harmonic, _avg_throttle_out);
AP_Notify::events.autotune_complete = true; AP_Notify::events.autotune_complete = true;
} }
#endif // AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
} }
// return the noise peak that is being tracked // return the noise peak that is being tracked