Filter: NotchFilter: return NaN for logging_frequency if not initia…

…lised
muramura · Apr 24, 2024 · 0a3bdbf · 0a3bdbf
1 parent 1a39bd1
commit 0a3bdbf
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Showing 2 changed files with 11 additions and 3 deletions.
diff --git a/libraries/Filter/NotchFilter.cpp b/libraries/Filter/NotchFilter.cpp
@@ -19,6 +19,7 @@
 #endif
 
 #include "NotchFilter.h"
+#include <AP_Logger/AP_Logger.h>
 
 const static float NOTCH_MAX_SLEW       = 0.05f;
 const static float NOTCH_MAX_SLEW_LOWER = 1.0f - NOTCH_MAX_SLEW;
@@ -135,6 +136,15 @@ void NotchFilter<T>::reset()
     need_reset = true;
 }
 
+#if HAL_LOGGING_ENABLED
+// return the frequency to log for the notch
+template <class T>
+float NotchFilter<T>::logging_frequency() const
+{
+    return initialised ? _center_freq_hz : AP::logger().quiet_nanf();
+}
+#endif
+
 /*
    instantiate template classes
  */

diff --git a/libraries/Filter/NotchFilter.h b/libraries/Filter/NotchFilter.h
@@ -49,9 +49,7 @@ class NotchFilter {
     }
 
     // return the frequency to log for the notch
-    float logging_frequency(void) const {
-        return initialised?_center_freq_hz:0;
-    }
+    float logging_frequency(void) const;
 
 protected: