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Code Issues Releases Activity

CameraStab: bypass LPF calculation if ResponseTime is zero

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This commit is contained in:
Oleg Semyonov 2011-12-18 02:24:15 +02:00
parent e11904c42f
commit 406cff296d
1 changed files with 7 additions and 2 deletions
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9
flight/Modules/CameraStab/camerastab.c
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@ -160,9 +160,14 @@ static void attitudeUpdated(UAVObjEvent* ev)
default:
PIOS_Assert(0);
}
// bypass LPF calculation if ResponseTime is zero
float rt = (float)cameraStab.ResponseTime[i];
csd->inputs_filtered[i] = (rt / (rt + csd->dT)) * csd->inputs_filtered[i]
+ (csd->dT / (rt + csd->dT)) * csd->inputs[i];
if (rt)
csd->inputs_filtered[i] = (rt / (rt + csd->dT)) * csd->inputs_filtered[i]
+ (csd->dT / (rt + csd->dT)) * csd->inputs[i];
else
csd->inputs_filtered[i] = csd->inputs[i];
}
}
}