Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 21:05:35 +03:00
Code Issues Wiki Activity

Fix CPU bug due toe reinitialising of filters

Browse source
This commit is contained in:
borisbstyle 2016-08-09 16:18:06 +02:00
parent f933e316c6
commit 107f09d6e1
2 changed files with 3 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/config/config.c
View file

@ -249,7 +249,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->dtermSetpointWeight = 120;
pidProfile->yawRateAccelLimit = 220;
pidProfile->rateAccelLimit = 0;
pidProfile->toleranceBand = 15;
pidProfile->toleranceBand = 0;
pidProfile->toleranceBandReduction = 40;
pidProfile->zeroCrossAllowanceCount = 2;
pidProfile->itermThrottleGain = 0;

2
src/main/flight/pid.c
View file

@ -114,11 +114,13 @@ void initFilters(const pidProfile_t *pidProfile)
if (pidProfile->dterm_notch_hz && !dtermNotchInitialised) {
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);
dtermNotchInitialised = true;
}
if (pidProfile->dterm_filter_type == FILTER_BIQUAD) {
if (pidProfile->dterm_lpf_hz && !dtermBiquadLpfInitialised) {
for (axis = 0; axis < 3; axis++) biquadFilterInitLPF(&dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, gyro.targetLooptime);
dtermBiquadLpfInitialised = true;
}
}
}