revert some USE_GYRO_DATA_ANALYSE and USE_GYRO_LPF2 gating because C …

…compiler sucks
emuflight · Oct 27, 2023 · c013d41 · c013d41
1 parent db57386
commit c013d41
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Showing 7 changed files with 4 additions and 48 deletions.
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -197,10 +197,8 @@ void resetPidProfile(pidProfile_t *pidProfile) {
     .dterm_ABG_half_life = 50,
     .emuGravityGain = 50,
     .angle_filter = 100,
-#ifdef USE_GYRO_DATA_ANALYSE
     .dtermDynNotch = false,
     .dterm_dyn_notch_q = 400,
-#endif
                 );
 }
 
@@ -237,7 +235,9 @@ static FAST_RAM filterApplyFnPtr angleSetpointFilterApplyFn = nullFilterApply;
 static FAST_RAM_ZERO_INIT pt1Filter_t angleSetpointFilter[2];
 static FAST_RAM filterApplyFnPtr dtermABGapplyFn = nullFilterApply;
 static FAST_RAM_ZERO_INIT alphaBetaGammaFilter_t dtermABG[XYZ_AXIS_COUNT];
+#ifdef USE_GYRO_DATA_ANALYSE
 static FAST_RAM_ZERO_INIT biquadFilter_t dtermNotch[XYZ_AXIS_COUNT][5];
+#endif
 
 #if defined(USE_ITERM_RELAX)
 static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
@@ -673,7 +673,9 @@ static FAST_RAM_ZERO_INIT float stickMovement[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float lastRcDeflectionAbs[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float previousError[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float previousMeasurement[XYZ_AXIS_COUNT];
+#ifdef USE_GYRO_DATA_ANALYSE
 static FAST_RAM_ZERO_INIT float previousNotchCenterFreq[XYZ_AXIS_COUNT][5];
+#endif
 static FAST_RAM_ZERO_INIT timeUs_t crashDetectedAtUs;
 
 void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs) {

diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
@@ -155,10 +155,8 @@ typedef struct pidProfile_s {
     uint16_t dterm_ABG_alpha;
     uint16_t dterm_ABG_boost;
     uint8_t dterm_ABG_half_life;
-#ifdef USE_GYRO_DATA_ANALYSE
     uint8_t dtermDynNotch;
     uint16_t dterm_dyn_notch_q;
-#endif
 } pidProfile_t;
 
 #ifndef USE_OSD_SLAVE

diff --git a/src/main/interface/msp.c b/src/main/interface/msp.c
@@ -1833,37 +1833,20 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
             gyroConfigMutable()->gyro_lowpass_hz[ROLL] = sbufReadU16(src);
             gyroConfigMutable()->gyro_lowpass_hz[PITCH] = sbufReadU16(src);
             gyroConfigMutable()->gyro_lowpass_hz[YAW] = sbufReadU16(src);
-#ifdef USE_GYRO_LPF2
             gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = sbufReadU16(src);
             gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = sbufReadU16(src);
             gyroConfigMutable()->gyro_lowpass2_hz[YAW] = sbufReadU16(src);
-#else
-            sbufReadU16(src);
-            sbufReadU16(src);
-            sbufReadU16(src);
-#endif
             gyroConfigMutable()->gyro_lowpass_type = sbufReadU8(src);
-#ifdef USE_GYRO_LPF2
             gyroConfigMutable()->gyro_lowpass2_type = sbufReadU8(src);
-#else
-            sbufReadU8(src);
-#endif
             currentPidProfile->dFilter[ROLL].dLpf2 = sbufReadU16(src);
             currentPidProfile->dFilter[PITCH].dLpf2 = sbufReadU16(src);
             currentPidProfile->dFilter[YAW].dLpf2 = sbufReadU16(src);
             //MSP 1.51 removes SmartDTermSmoothing and WitchCraft
             //MSP 1.51 adds and refactors dynamic_filter
-#ifdef USE_GYRO_DATA_ANALYSE
             gyroConfigMutable()->dyn_notch_count = sbufReadU8(src); //dynamic_gyro_notch_count
             gyroConfigMutable()->dyn_notch_q = sbufReadU16(src);
             gyroConfigMutable()->dyn_notch_min_hz = sbufReadU16(src);
             gyroConfigMutable()->dyn_notch_max_hz = sbufReadU16(src); //dynamic_gyro_notch_max_hz
-#else
-            sbufReadU8(src);
-            sbufReadU16(src);
-            sbufReadU16(src);
-            sbufReadU16(src);
-#endif
             //end 1.51 add/refactor dynamic_filter
             //MSP 1.51
             gyroConfigMutable()->gyro_ABG_alpha = sbufReadU16(src);
@@ -1875,13 +1858,8 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
             currentPidProfile->dterm_ABG_half_life = sbufReadU8(src);
             //end MSP 1.51
             //MSP 1.51 dynamic dTerm notch
-#ifdef USE_GYRO_DATA_ANALYSE
             currentPidProfile->dtermDynNotch = sbufReadU8(src);         //dterm_dyn_notch_enable
             currentPidProfile->dterm_dyn_notch_q = sbufReadU16(src);    //dterm_dyn_notch_q
-#else
-            sbufReadU8(src);
-            sbufReadU16(src);
-#endif
             //end MSP 1.51 dynamic dTerm notch
         }
         // reinitialize the gyro filters with the new values

diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
@@ -394,11 +394,9 @@ static const char *const lookupTableMixerImplType[] = {
     "LEGACY", "SMOOTH", "2PASS"
 };
 
-#ifdef USE_GYRO_DATA_ANALYSE
 static const char *const lookupTableDynNotchAxisType[] = {
     "RP", "RPY"
 };
-#endif
 
 #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
 
@@ -489,9 +487,7 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming),
 #endif
     LOOKUP_TABLE_ENTRY(lookupTableMixerImplType),
-#ifdef USE_GYRO_DATA_ANALYSE
     LOOKUP_TABLE_ENTRY(lookupTableDynNotchAxisType),
-#endif
 };
 
 #undef LOOKUP_TABLE_ENTRY

diff --git a/src/main/interface/settings.h b/src/main/interface/settings.h
@@ -112,9 +112,7 @@ typedef enum {
     TABLE_OSD_LOGO_ON_ARMING,
 #endif
     TABLE_MIXER_IMPL_TYPE,
-#ifdef USE_GYRO_DATA_ANALYSE
     TABLE_DYN_NOTCH_AXIS_TYPE,
-#endif
     LOOKUP_TABLE_COUNT
 } lookupTableIndex_e;
 

diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
@@ -238,12 +238,10 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .gyro_lowpass_hz[ROLL] = 0,
                   .gyro_lowpass_hz[PITCH] = 0,
                   .gyro_lowpass_hz[YAW] = 0,
-#ifdef USE_GYRO_LPF2
                   .gyro_lowpass2_type = FILTER_PT1,
                   .gyro_lowpass2_hz[ROLL] = 0,
                   .gyro_lowpass2_hz[PITCH] = 0,
                   .gyro_lowpass2_hz[YAW] = 0,
-#endif
                   .gyro_high_fsr = false,
                   .gyro_use_32khz = true,
                   .gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT,
@@ -254,13 +252,11 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES,
                   .yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO,
                   .yaw_spin_threshold = 1950,
-#ifdef USE_GYRO_DATA_ANALYSE
                   .dyn_notch_axis = RPY,
                   .dyn_notch_q = 400,
                   .dyn_notch_count = 3, // default of 3 is similar to the matrix filter.
                   .dyn_notch_min_hz = 150,
                   .dyn_notch_max_hz = 600,
-#endif
                   .imuf_mode = GTBCM_GYRO_ACC_FILTER_F,
                   .imuf_rate = IMUF_RATE_16K,
                   .imuf_roll_q = 6000,
@@ -293,12 +289,10 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .gyro_lowpass_hz[ROLL] = 115,
                   .gyro_lowpass_hz[PITCH] = 115,
                   .gyro_lowpass_hz[YAW] = 105,
-#ifdef USE_GYRO_LPF2
                   .gyro_lowpass2_type = FILTER_PT1,
                   .gyro_lowpass2_hz[ROLL] = 0,
                   .gyro_lowpass2_hz[PITCH] = 0,
                   .gyro_lowpass2_hz[YAW] = 0,
-#endif
                   .gyro_high_fsr = false,
                   .gyro_use_32khz = false,
                   .gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT,
@@ -314,13 +308,11 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .gyro_offset_yaw = 0,
                   .yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO,
                   .yaw_spin_threshold = 1950,
-#ifdef USE_GYRO_DATA_ANALYSE
                   .dyn_notch_axis = RPY,
                   .dyn_notch_q = 350,
                   .dyn_notch_count = 3, // default of 3 is similar to the matrix filter.
                   .dyn_notch_min_hz = 150,
                   .dyn_notch_max_hz = 600,
-#endif
                   .gyro_ABG_alpha = 0,
                   .gyro_ABG_boost = 275,
                   .gyro_ABG_half_life = 50,

diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
@@ -113,12 +113,10 @@ typedef struct smithPredictor_s {
 } smithPredictor_t;
 #endif // USE_SMITH_PREDICTOR
 
-#ifdef USE_GYRO_DATA_ANALYSE
 typedef enum {
     RP = 0,
     RPY = 1
 } dynamicGyroAxisType_e;
-#endif
 
 typedef struct gyroConfig_s {
     uint8_t  gyro_align;                       // gyro alignment
@@ -132,9 +130,7 @@ typedef struct gyroConfig_s {
     uint8_t  gyro_to_use;
 
     uint16_t gyro_lowpass_hz[XYZ_AXIS_COUNT];
-#ifdef USE_GYRO_LPF2
     uint16_t gyro_lowpass2_hz[XYZ_AXIS_COUNT];
-#endif
 
     uint16_t gyro_ABG_alpha;
     uint16_t gyro_ABG_boost;
@@ -149,21 +145,17 @@ typedef struct gyroConfig_s {
 
     // Lowpass primary/secondary
     uint8_t  gyro_lowpass_type;
-#ifdef USE_GYRO_LPF2
     uint8_t  gyro_lowpass2_type;
-#endif
 
     uint8_t  yaw_spin_recovery;
     int16_t  yaw_spin_threshold;
 
     uint16_t gyroCalibrationDuration;  // Gyro calibration duration in 1/100 second
-#if defined(USE_GYRO_DATA_ANALYSE)
     uint8_t dyn_notch_axis;
     uint16_t dyn_notch_q;
     uint8_t dyn_notch_count;
     uint16_t dyn_notch_min_hz;
     uint16_t dyn_notch_max_hz;
-#endif
 #if defined(USE_GYRO_IMUF9001)
     uint16_t imuf_mode;
     uint16_t imuf_rate;