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AP_GyroFFT: make sure the parameters are updated at least once on startup

This commit is contained in:
Andy Piper 2022-06-08 20:30:33 +01:00 committed by Andrew Tridgell
parent a2318eea99
commit 6f1d0a4e72
2 changed files with 5 additions and 4 deletions
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6
libraries/AP_GyroFFT/AP_GyroFFT.cpp
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@ -327,7 +327,7 @@ void AP_GyroFFT::init(uint16_t loop_rate_hz)
// finally we are done
_initialized = true;
update_parameters();
update_parameters(true);
// start running FFTs
if (start_update_thread()) {
set_analysis_enabled(true);
@ -477,10 +477,10 @@ bool AP_GyroFFT::start_analysis() {
}
// update calculated values of dynamic parameters - runs at 1Hz
void AP_GyroFFT::update_parameters()
void AP_GyroFFT::update_parameters(bool force)
{
// lock contention is very costly, so don't allow configuration updates while flying
if (!_initialized || AP::arming().is_armed()) {
if ((!_initialized || AP::arming().is_armed()) && !force) {
return;
}

3
libraries/AP_GyroFFT/AP_GyroFFT.h
View File

@ -56,7 +56,7 @@ public:
// update the engine state - runs at 400Hz
void update();
// update calculated values of dynamic parameters - runs at 1Hz
void update_parameters();
void update_parameters() { update_parameters(false); }
// thread for processing gyro data via FFT
void update_thread();
// start the update thread
@ -206,6 +206,7 @@ private:
uint16_t get_available_samples(uint8_t axis) {
return _sample_mode == 0 ?_ins->get_raw_gyro_window(axis).available() : _downsampled_gyro_data[axis].available();
}
void update_parameters(bool force);
// semaphore for access to shared FFT data
HAL_Semaphore _sem;