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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/flight/pid.c
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@ -114,10 +114,8 @@ void initFilters(const pidProfile_t *pidProfile) {
int axis;
if (pidProfile->dterm_notch_hz && !dtermNotchInitialised) {
float octaves = log2f(((float) pidProfile->dterm_notch_hz + pidProfile->dterm_notch_bw / 2) / ((float) pidProfile->dterm_notch_hz - pidProfile->dterm_notch_bw / 2));
float dtermNotchQ = sqrtf(powf(2, octaves)) / (powf(2, octaves) - 1);
for (axis = 0; axis < 3; axis++) biquadFilterInit(&dtermFilterNotch[axis], pidProfile->dterm_notch_hz, gyro.targetLooptime, dtermNotchQ, FILTER_NOTCH);
float notchQ = filterGetNotchQ(pidProfile->dterm_notch_hz, pidProfile->dterm_notch_cutoff);
for (axis = 0; axis < 3; axis++) biquadFilterInit(&dtermFilterNotch[axis], pidProfile->dterm_notch_hz, gyro.targetLooptime, notchQ, FILTER_NOTCH);
}
if (pidProfile->dterm_filter_type == FILTER_BIQUAD) {