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AP_GyroFFT: skip disabled notches

This commit is contained in:
Andrew Tridgell 2022-04-16 12:08:22 +10:00 committed by Randy Mackay
parent 5bdac5174c
commit 97d42308a7
1 changed files with 4 additions and 2 deletions
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4
libraries/AP_GyroFFT/AP_GyroFFT.cpp
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@ -253,7 +253,7 @@ void AP_GyroFFT::init(uint16_t loop_rate_hz)
uint8_t harmonics = 0; uint8_t harmonics = 0;
uint8_t num_notches = 0; uint8_t num_notches = 0;
for (auto &notch : _ins->harmonic_notches) { for (auto &notch : _ins->harmonic_notches) {
if (notch.params.tracking_mode() == HarmonicNotchDynamicMode::UpdateGyroFFT) { if (notch.params.enabled() && notch.params.tracking_mode() == HarmonicNotchDynamicMode::UpdateGyroFFT) {
harmonics |= notch.params.harmonics(); harmonics |= notch.params.harmonics();
num_notches = MAX(num_notches, notch.num_dynamic_notches); num_notches = MAX(num_notches, notch.num_dynamic_notches);
} }
@ -386,8 +386,10 @@ void AP_GyroFFT::update()
} else { } else {
uint8_t num_notches = 0; uint8_t num_notches = 0;
for (auto &notch : _ins->harmonic_notches) { for (auto &notch : _ins->harmonic_notches) {
if (notch.params.enabled()) {
num_notches = MAX(num_notches, notch.num_dynamic_notches); num_notches = MAX(num_notches, notch.num_dynamic_notches);
} }
}
_health = MIN(_global_state._health, num_notches); _health = MIN(_global_state._health, num_notches);
} }
} }