[4.4.2] Remove 15 m/s limit on estimated vario (#12788)
[betaflight.git] / src / main / sensors / acceleration_init.h
blobb900a452cf7c426fa12492e9526dacad32e538f7
1 /*
2 * This file is part of Cleanflight and Betaflight.
4 * Cleanflight and Betaflight are free software. You can redistribute
5 * this software and/or modify this software under the terms of the
6 * GNU General Public License as published by the Free Software
7 * Foundation, either version 3 of the License, or (at your option)
8 * any later version.
10 * Cleanflight and Betaflight are distributed in the hope that they
11 * will be useful, but WITHOUT ANY WARRANTY; without even the implied
12 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
13 * See the GNU General Public License for more details.
15 * You should have received a copy of the GNU General Public License
16 * along with this software.
18 * If not, see <http://www.gnu.org/licenses/>.
21 #pragma once
23 #include "platform.h"
25 #include "sensors/acceleration.h"
28 typedef struct accelerationRuntime_s {
29 uint16_t accLpfCutHz;
30 pt2Filter_t accFilter[XYZ_AXIS_COUNT];
31 flightDynamicsTrims_t *accelerationTrims;
32 uint16_t calibratingA; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
33 } accelerationRuntime_t;
35 extern accelerationRuntime_t accelerationRuntime;
37 void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims);
38 void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims);