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| author | Julian Oes <julian@oes.ch> | 2013-07-18 19:45:44 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-07-18 19:45:44 +0200 |
| commit | e309b9ab4a633065f06a0f0c66542df84e6147d5 (patch) | |
| tree | 867fbbfa7a576915ed233e08f2039f4a1991d423 /src/drivers/lsm303d/lsm303d.cpp | |
| parent | da152e148d471ded29857e29040f33c7356c9050 (diff) | |
| download | px4-firmware-e309b9ab4a633065f06a0f0c66542df84e6147d5.tar.gz px4-firmware-e309b9ab4a633065f06a0f0c66542df84e6147d5.tar.bz2 px4-firmware-e309b9ab4a633065f06a0f0c66542df84e6147d5.zip | |
Disable IIR filter for now
Diffstat (limited to 'src/drivers/lsm303d/lsm303d.cpp')
| -rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 52 |
1 files changed, 28 insertions, 24 deletions
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 80d777826..a9a9bb69f 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -221,9 +221,9 @@ private: unsigned _current_samplerate; - FIL_T _filter_x; - FIL_T _filter_y; - FIL_T _filter_z; +// FIL_T _filter_x; +// FIL_T _filter_y; +// FIL_T _filter_z; unsigned _num_mag_reports; volatile unsigned _next_mag_report; @@ -495,20 +495,20 @@ LSM303D::init() set_samplerate(400); /* max sample rate */ /* initiate filter */ - TF_DIF_t tf_filter; - tf_filter.numInt = 0; - tf_filter.numDiff = 0; - tf_filter.lowpassLength = 2; - tf_filter.highpassLength = 0; - tf_filter.lowpassData[0] = 10; - tf_filter.lowpassData[1] = 10; - //tf_filter.highpassData[0] = ; - tf_filter.gain = 1; - tf_filter.Ts = 1/_current_samplerate; - - initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_x); - initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_y); - initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_z); +// TF_DIF_t tf_filter; +// tf_filter.numInt = 0; +// tf_filter.numDiff = 0; +// tf_filter.lowpassLength = 2; +// tf_filter.highpassLength = 0; +// tf_filter.lowpassData[0] = 10; +// tf_filter.lowpassData[1] = 10; +// //tf_filter.highpassData[0] = ; +// tf_filter.gain = 1; +// tf_filter.Ts = 1/_current_samplerate; +// +// initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_x); +// initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_y); +// initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_z); mag_set_range(4); /* XXX: take highest sensor range of 12GA? */ mag_set_samplerate(100); @@ -1182,13 +1182,17 @@ LSM303D::measure() accel_report->y_raw = raw_accel_report.y; accel_report->z_raw = raw_accel_report.z; - float x_in_new = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; - float y_in_new = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; - float z_in_new = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; - - accel_report->x = updateFilter(&_filter_x, x_in_new); - accel_report->y = updateFilter(&_filter_y, y_in_new); - accel_report->z = updateFilter(&_filter_z, z_in_new); +// float x_in_new = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; +// float y_in_new = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; +// float z_in_new = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; +// +// accel_report->x = updateFilter(&_filter_x, x_in_new); +// accel_report->y = updateFilter(&_filter_y, y_in_new); +// accel_report->z = updateFilter(&_filter_z, z_in_new); + + accel_report->x = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; + accel_report->y = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; + accel_report->z = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; accel_report->scaling = _accel_range_scale; accel_report->range_m_s2 = _accel_range_m_s2; |