Racelogic / Mbed 2 deprecated VIPS_LTC_RAW_IMU

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Dependencies:   BufferedSerial FatFileSystemCpp mbed

Diff: VIPSSerialProtocol.cpp

Revision:
46:432d63e8fe64
Parent:
36:fff2a71bbf86
Child:
49:df05784d9a5c
--- a/VIPSSerialProtocol.cpp	Thu Aug 12 15:51:43 2021 +0000
+++ b/VIPSSerialProtocol.cpp	Tue Aug 17 15:55:40 2021 +0000
@@ -340,13 +340,18 @@
         offset+=4;
     }
 
-    /*if ( ( ( lastPositions[nextPosition].pos.KFStatus & 0xE634) == 0x0400) && (!hyperSmoothEnabled)) {
-        EnableSmoothing(true);
-        pc.write("Auto HS On\r\n", 12);
-    } else if (hyperSmoothEnabled) {
-        EnableSmoothing(false);
-        pc.write("Auto HS Off\r\n", 13);
-    }*/ //Auto Hypersmooth, test in later commit after Ethernet Thread tested
+    if (UserSettings.AutoHyperSmooth) {
+        int testValue = (lastPositions[nextPosition].pos.KFStatus & 0xE634);
+
+        if ( ( ( testValue & 0x400) == 0x400) && (!hyperSmoothEnabled)) {
+            EnableSmoothing(true);
+            pc.write("Auto HS On\r\n", 12);
+        } else if ( ( ( testValue & 0x400) != 0x400) && (hyperSmoothEnabled)) {
+            EnableSmoothing(false);
+            pc.write("Auto HS Off\r\n", 13);
+        } //Auto Hypersmooth
+    }
+
 
     smoothOutputPacket(&(lastPositions[nextPosition].pos));
 
@@ -420,7 +425,7 @@
             YSmoothTotal = posPtr->Y * (SmoothBy - 1);
             ZSmoothTotal = posPtr->Height * (SmoothBy - 1);
             SmoothRunning = true;
-            pc.write("Seeded Filter\r\n",11);
+            //pc.write("Seeded Filter\r\n",11);
         }
         //smooth the KF_X and KF_Y positions
         XSmoothTotal += posPtr->X;
@@ -436,7 +441,7 @@
         ZSmoothTotal -= posPtr->Height;
     } else {
         SmoothRunning = false;
- //       pc.printf("filterX = %f\r\n",xFilter.lastValue());
+//       pc.printf("filterX = %f\r\n",xFilter.lastValue());
         posPtr->X = xFilter.lastValue();
         posPtr->Y = yFilter.lastValue();
         posPtr->Height = zFilter.lastValue();