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Code Issues Wiki Activity

Removed DTerm RPM filter.

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This commit is contained in:
mikeller 2020-07-06 19:33:06 +12:00
parent 41fa8754bc
commit 15d1df3c77
6 changed files with 4 additions and 41 deletions
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7
src/main/flight/pid.c
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@ -47,7 +47,6 @@
#include "flight/gps_rescue.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/rpm_filter.h"
#include "flight/interpolated_setpoint.h"
#include "io/gps.h"
@ -866,18 +865,12 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
DEBUG_SET(DEBUG_D_LPF, 1, lrintf(delta));
}
#ifdef USE_RPM_FILTER
gyroRateDterm[axis] = rpmFilterDterm(axis,gyroRateDterm[axis]);
#endif
gyroRateDterm[axis] = pidRuntime.dtermNotchApplyFn((filter_t *) &pidRuntime.dtermNotch[axis], gyroRateDterm[axis]);
gyroRateDterm[axis] = pidRuntime.dtermLowpassApplyFn((filter_t *) &pidRuntime.dtermLowpass[axis], gyroRateDterm[axis]);
gyroRateDterm[axis] = pidRuntime.dtermLowpass2ApplyFn((filter_t *) &pidRuntime.dtermLowpass2[axis], gyroRateDterm[axis]);
}
rotateItermAndAxisError();
#ifdef USE_RPM_FILTER
rpmFilterUpdate();
#endif
#ifdef USE_INTERPOLATED_SP
bool newRcFrame = false;