AP_InertialSensor: allow backend filters to be updated independently …

…from a separate thread
ArduPilot · Aug 22, 2024 · 2864465 · 2864465
1 parent ecd9694
commit 2864465
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Showing 2 changed files with 20 additions and 1 deletion.
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -781,6 +781,14 @@ void AP_InertialSensor_Backend::update_gyro(uint8_t instance) /* front end */
         _imu._new_gyro_data[instance] = false;
     }
 
+    update_gyro_filters(instance);
+}
+
+/*
+  propagate filter changes from front end to backend
+ */
+void AP_InertialSensor_Backend::update_gyro_filters(uint8_t instance) /* front end */
+{
     // possibly update filter frequency
     const float gyro_rate = _gyro_raw_sample_rate(instance);
 
@@ -815,7 +823,16 @@ void AP_InertialSensor_Backend::update_accel(uint8_t instance) /* front end */
         _publish_accel(instance, _imu._accel_filtered[instance]);
         _imu._new_accel_data[instance] = false;
     }
-
+
+    update_accel_filters(instance);
+}
+
+
+/*
+  propagate filter changes from front end to backend
+ */
+void AP_InertialSensor_Backend::update_accel_filters(uint8_t instance) /* front end */
+{
     // possibly update filter frequency
     if (_last_accel_filter_hz != _accel_filter_cutoff()) {
         _imu._accel_filter[instance].set_cutoff_frequency(_accel_raw_sample_rate(instance), _accel_filter_cutoff());

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
@@ -276,9 +276,11 @@ class AP_InertialSensor_Backend
 
     // common gyro update function for all backends
     void update_gyro(uint8_t instance) __RAMFUNC__; /* front end */
+    void update_gyro_filters(uint8_t instance) __RAMFUNC__; /* front end */
 
     // common accel update function for all backends
     void update_accel(uint8_t instance) __RAMFUNC__; /* front end */
+    void update_accel_filters(uint8_t instance) __RAMFUNC__; /* front end */
 
     // support for updating filter at runtime
     uint16_t _last_accel_filter_hz;