Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-21 16:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_GyroFFT: Change from division to multiplication

Browse Source
This commit is contained in:
murata 2022-03-12 02:33:10 +09:00 committed by Andrew Tridgell
parent be89285d10
commit c90e42d10a
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_GyroFFT/AP_GyroFFT.cpp
View File

@ -475,7 +475,7 @@ void AP_GyroFFT::update_parameters()
// determine the endt FFT bin for all frequency detection
_config._fft_end_bin = MIN(ceilf(_fft_max_hz.get() / _state->_bin_resolution), _state->_bin_count);
// actual attenuation from the db value
_config._attenuation_cutoff = powf(10.0f, -_attenuation_power_db / 10.0f);
_config._attenuation_cutoff = powf(10.0f, -_attenuation_power_db * 0.1f);
}
// thread for processing gyro data via FFT
@ -574,7 +574,7 @@ bool AP_GyroFFT::pre_arm_check(char *failure_msg, const uint8_t failure_msg_len)
if (_calibrated) {
// provide the user with some useful information about what they have configured
gcs().send_text(MAV_SEVERITY_INFO, "FFT: calibrated %.1fKHz/%.1fHz/%.1fHz", _fft_sampling_rate_hz / 1000.0f,
gcs().send_text(MAV_SEVERITY_INFO, "FFT: calibrated %.1fKHz/%.1fHz/%.1fHz", _fft_sampling_rate_hz * 0.001f,
_state->_bin_resolution * 0.5, 1000.0f * XYZ_AXIS_COUNT / _frame_time_ms);
}