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AP_InertialSensor: cope with negative ESC frequencies in notch updates

This commit is contained in:
Andy Piper 2024-10-04 20:38:16 +01:00 committed by Andrew Tridgell
parent f588e9a230
commit cb111504e2
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -2327,7 +2327,7 @@ void AP_InertialSensor::acal_update()
*/
void AP_InertialSensor::HarmonicNotch::update_freq_hz(float scaled_freq)
{
calculated_notch_freq_hz[0] = scaled_freq;
calculated_notch_freq_hz[0] = fabsf(scaled_freq);
num_calculated_notch_frequencies = 1;
}
@ -2335,7 +2335,7 @@ void AP_InertialSensor::HarmonicNotch::update_freq_hz(float scaled_freq)
void AP_InertialSensor::HarmonicNotch::update_frequencies_hz(uint8_t num_freqs, const float scaled_freq[]) {
// note that we allow zero through, which will disable the notch
for (uint8_t i = 0; i < num_freqs; i++) {
calculated_notch_freq_hz[i] = scaled_freq[i];
calculated_notch_freq_hz[i] = fabsf(scaled_freq[i]);
}
// any uncalculated frequencies will float at the previous value or the initialized freq if none
num_calculated_notch_frequencies = num_freqs;