From d4d75f6da14ef43354bfb94f5837e48cf73c1801 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Fri, 6 Jan 2017 11:50:57 +0100 Subject: [PATCH] Add comments to gyro.c --- src/main/sensors/gyro.c | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index f7b6debf5..3daa93af7 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -445,16 +445,14 @@ void gyroUpdate(void) // scale gyro output to degrees per second float gyroADCf = (float)gyroADC[axis] * gyro.dev.scale; + // Apply LPF DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf)); - gyroADCf = softLpfFilterApplyFn(softLpfFilter[axis], gyroADCf); + // Apply Notch filtering DEBUG_SET(DEBUG_NOTCH, axis, lrintf(gyroADCf)); - gyroADCf = notchFilter1ApplyFn(notchFilter1[axis], gyroADCf); - gyroADCf = notchFilter2ApplyFn(notchFilter2[axis], gyroADCf); - gyro.gyroADCf[axis] = gyroADCf; if (!calibrationComplete) { -- 2.11.4.GIT