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[rotorcraft][ins] set hff frequency according to AHRS_PROPAGATE_FREQUENCY

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This commit is contained in:
Felix Ruess
2012-07-24 23:48:50 +02:00
parent d4db85f88f
commit 67da4edc7b
1 changed files with 11 additions and 1 deletions
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sw/airborne/subsystems/ins/hf_float.h
+11 -1
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@@ -29,12 +29,22 @@
#define HFF_STATE_SIZE 2 #define HFF_STATE_SIZE 2
#ifndef AHRS_PROPAGATE_FREQUENCY
#define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
#endif
#ifndef HFF_PRESCALER #ifndef HFF_PRESCALER
#if AHRS_PROPAGATE_FREQUENCY == 512
#define HFF_PRESCALER 16 #define HFF_PRESCALER 16
#elif AHRS_PROPAGATE_FREQUENCY == 500
#define HFF_PRESCALER 10
#else
#error "HFF_PRESCALER needs to be a divisor of AHRS_PROPAGATE_FREQUENCY"
#endif
#endif #endif
/* horizontal filter propagation frequency */ /* horizontal filter propagation frequency */
#define HFF_FREQ (512./HFF_PRESCALER) #define HFF_FREQ (AHRS_PROPAGATE_FREQUENCY/HFF_PRESCALER)
#define DT_HFILTER (1./HFF_FREQ) #define DT_HFILTER (1./HFF_FREQ)
#define HFF_UPDATE_SPEED #define HFF_UPDATE_SPEED