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AP_InertialSensor: ensure harmonic notch gets appropriate defaults

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Andy Piper 2019-08-29 08:13:27 +01:00 committed by Andrew Tridgell
parent 3261677e01
commit a9a7fe3ea5
1 changed files with 3 additions and 0 deletions
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libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -667,6 +667,9 @@ AP_InertialSensor::init(uint16_t sample_rate)
for (uint8_t i=0; i<get_gyro_count(); i++) {
_gyro_harmonic_notch_filter[i].allocate_filters(_harmonic_notch_filter.harmonics());
// initialise default settings, these will be subsequently changed in AP_InertialSensor_Backend::update_gyro()
_gyro_harmonic_notch_filter[i].init(_gyro_raw_sample_rates[i], _calculated_harmonic_notch_freq_hz,
_harmonic_notch_filter.bandwidth_hz(), _harmonic_notch_filter.attenuation_dB());
}
}