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libdsp/lib_observer.c: remove dir argument from speed observers

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We can automatically detect the direction of movement from angle diff
This commit is contained in:
raiden00pl
2022-02-13 13:57:42 +01:00
committed by Xiang Xiao
parent 01cbe9133e
commit 31ffa6d576
2 changed files with 11 additions and 29 deletions
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include/dsp.h
+2 -4
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@@ -551,8 +551,7 @@ void motor_aobserver_smo(FAR struct motor_aobserver_f32_s *o,
void motor_sobserver_div_init(FAR struct motor_sobserver_div_f32_s *so,
uint8_t samples, float filer, float per);
void motor_sobserver_div(FAR struct motor_sobserver_f32_s *o,
float angle, float dir);
void motor_sobserver_div(FAR struct motor_sobserver_f32_s *o, float angle);
void motor_aobserver_nfo_init(FAR struct motor_aobserver_nfo_f32_s *nfo);
void motor_aobserver_nfo(FAR struct motor_aobserver_f32_s *o,
@@ -561,8 +560,7 @@ void motor_aobserver_nfo(FAR struct motor_aobserver_f32_s *o,
void motor_sobserver_pll_init(FAR struct motor_sobserver_pll_f32_s *so,
float pll_kp, float pll_ki);
void motor_sobserver_pll(FAR struct motor_sobserver_f32_s *o,
float angle, float dir);
void motor_sobserver_pll(FAR struct motor_sobserver_f32_s *o, float angle);
/* Motor openloop control */