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Plane: dynamic notch setting via FFT

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Andy Piper 2020-01-16 17:32:07 +00:00 committed by Andrew Tridgell
parent 0e9b2a26c5
commit 3832bc455d
1 changed files with 6 additions and 0 deletions
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6
ArduPlane/system.cpp
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@ -491,6 +491,12 @@ void Plane::update_dynamic_notch()
case HarmonicNotchDynamicMode::UpdateBLHeli: // BLHeli based tracking case HarmonicNotchDynamicMode::UpdateBLHeli: // BLHeli based tracking
ins.update_harmonic_notch_freq_hz(MAX(ref_freq, AP_BLHeli::get_singleton()->get_average_motor_frequency_hz() * ref)); ins.update_harmonic_notch_freq_hz(MAX(ref_freq, AP_BLHeli::get_singleton()->get_average_motor_frequency_hz() * ref));
break; break;
#endif
#if HAL_GYROFFT_ENABLED
case HarmonicNotchDynamicMode::UpdateGyroFFT: // FFT based tracking
// set the harmonic notch filter frequency scaled on measured frequency
ins.update_harmonic_notch_freq_hz(gyro_fft.get_weighted_noise_center_freq_hz());
break;
#endif #endif
case HarmonicNotchDynamicMode::Fixed: // static case HarmonicNotchDynamicMode::Fixed: // static
default: default: