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AP_InertialSensor: move INS_HNTC2 to a new parameter table ID

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Andrew Tridgell 2022-04-15 15:03:31 +10:00 committed by Randy Mackay
parent 4289b6bc1b
commit 5db3a06751
2 changed files with 8 additions and 3 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -533,9 +533,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU
AP_GROUPINFO("FAST_SAMPLE", 36, AP_InertialSensor, _fast_sampling_mask, HAL_DEFAULT_INS_FAST_SAMPLE),
// @Group: NOTCH_
// @Path: ../Filter/HarmonicNotchFilter.cpp
AP_SUBGROUPINFO(_notch_filter, "NOTCH_", 37, AP_InertialSensor, HarmonicNotchFilterParams),
// index 37 was NOTCH_
// @Group: LOG_
// @Path: ../AP_InertialSensor/BatchSampler.cpp
@ -552,6 +550,10 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Path: ../Filter/HarmonicNotchFilter.cpp
AP_SUBGROUPINFO(_harmonic_notch_filter, "HNTCH_", 41, AP_InertialSensor, HarmonicNotchFilterParams),
// @Group: HNTC2_
// @Path: ../Filter/HarmonicNotchFilter.cpp
AP_SUBGROUPINFO(_notch_filter, "HNTC2_", 53, AP_InertialSensor, HarmonicNotchFilterParams),
// @Param: GYRO_RATE
// @DisplayName: Gyro rate for IMUs with Fast Sampling enabled
// @Description: Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.

3
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -303,6 +303,9 @@ public:
// check for vibration movement. True when all axis show nearly zero movement
bool is_still();
// return true if notch enabled
bool gyro_notch_enabled(void) const { return _notch_filter.enabled(); }
// return true if harmonic notch enabled
bool gyro_harmonic_notch_enabled(void) const { return _harmonic_notch_filter.enabled(); }