fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 17:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Removed LSM303D filter

Browse Source
This commit is contained in:
Andrew Tridgell
2013-08-04 15:47:35 +02:00
committed by Lorenz Meier
parent a87690d0e2
commit 686edfefb8
4 changed files with 3 additions and 338 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/lsm303d/lsm303d.cpp
-22
View File
@@ -65,8 +65,6 @@
#include <board_config.h>
#include "iirFilter.h"
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
@@ -221,10 +219,6 @@ private:
unsigned _current_samplerate;
// FIL_T _filter_x;
// FIL_T _filter_y;
// FIL_T _filter_z;
unsigned _num_mag_reports;
volatile unsigned _next_mag_report;
volatile unsigned _oldest_mag_report;
@@ -494,22 +488,6 @@ LSM303D::init()
set_antialias_filter_bandwidth(50); /* available bandwidths: 50, 194, 362 or 773 Hz */
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);
mag_set_range(4); /* XXX: take highest sensor range of 12GA? */
mag_set_samplerate(100);