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Fix Smith Predictor compilation guards #1094

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Merged
nerdCopter merged 1 commit into from
Oct 21, 2025
+4 −4
Merged

Fix Smith Predictor compilation guards #1094

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6 changes: 2 additions & 4 deletions src/main/sensors/gyro.h
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Original file line number Diff line number Diff line change
Expand Up @@ -105,13 +105,12 @@ typedef struct smithPredictor_s {
uint8_t enabled;
uint8_t samples;
uint8_t idx;

float data[MAX_SMITH_SAMPLES + 1]; // This is gonna be a ring buffer. Max of 8ms delay at 8khz

pt1Filter_t smithPredictorFilter; // filter the smith predictor output for RPY

float smithPredictorStrength;
} smithPredictor_t;

float applySmithPredictor(smithPredictor_t *smithPredictor, float gyroFiltered);
#endif // USE_SMITH_PREDICTOR

typedef enum {
Expand Down Expand Up @@ -208,7 +207,6 @@ bool gyroOverflowDetected(void);
bool gyroYawSpinDetected(void);
uint16_t gyroAbsRateDps(int axis);
uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg);
float applySmithPredictor(smithPredictor_t *smithPredictor, float gyroFiltered);
#ifdef USE_GYRO_DATA_ANALYSE
bool isDynamicFilterActive(void);
#endif
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2 changes: 2 additions & 0 deletions src/main/sensors/gyro_filter_impl.h
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Expand Up @@ -62,7 +62,9 @@ static FAST_CODE void GYRO_FILTER_FUNCTION_NAME(gyroSensor_t *gyroSensor) {
#ifndef USE_GYRO_IMUF9001
update_kalman_covariance(gyroADCf, axis);
#endif
#ifdef USE_SMITH_PREDICTOR
applySmithPredictor(gyroSensor->smithPredictor, gyroADCf);
#endif

#ifdef USE_GYRO_IMUF9001
// DEBUG_GYRO_FILTERED records the scaled, filtered, after all software filtering has been applied.
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