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set lower filter cutoff instead of Q

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fix error in gyro pt1 filter
This commit is contained in:
rav 2016-08-03 23:45:52 +02:00
parent 258e05e9c5
commit 0e905e01d3
10 changed files with 21 additions and 20 deletions
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6
src/main/config/config.c
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@ -237,7 +237,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->dterm_filter_type = FILTER_PT1;
pidProfile->dterm_lpf_hz = 100; // filtering ON by default
pidProfile->dterm_notch_hz = 0;
pidProfile->dterm_notch_bw = 200;
pidProfile->dterm_notch_cutoff = 150;
pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
pidProfile->vbatPidCompensation = 0;
pidProfile->zeroThrottleStabilisation = PID_STABILISATION_OFF;
@ -482,7 +482,7 @@ static void resetConf(void)
masterConfig.gyro_soft_type = FILTER_PT1;
masterConfig.gyro_soft_lpf_hz = 80;
masterConfig.gyro_soft_notch_hz = 0;
masterConfig.gyro_soft_notch_bw = 200;
masterConfig.gyro_soft_notch_cutoff = 150;
masterConfig.debug_mode = DEBUG_NONE;
@ -747,7 +747,7 @@ void activateConfig(void)
&currentProfile->pidProfile
);
gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz, masterConfig.gyro_soft_notch_hz, masterConfig.gyro_soft_notch_bw, masterConfig.gyro_soft_type);
gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz, masterConfig.gyro_soft_notch_hz, masterConfig.gyro_soft_notch_cutoff, masterConfig.gyro_soft_type);
#ifdef TELEMETRY
telemetryUseConfig(&masterConfig.telemetryConfig);