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Code Issues Wiki Activity

make the accZ lpf used for althold configurable

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set the variable accz_lpf_cutoff to the desired cutoff frequency
this can help to make althold smoother on copters with lots of
vibrations

Conflicts:

	src/cli.c
	src/config.c
	src/imu.c
	src/mw.h
This commit is contained in:
luggi 2014-06-03 16:32:18 +02:00 • committed by Dominic Clifton
parent c53268b7be
commit 1bf806f54c
5 changed files with 13 additions and 5 deletions
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4
src/main/config/config.c
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@ -85,7 +85,7 @@ static uint32_t flashWriteAddress = (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE *
master_t masterConfig; // master config struct with data independent from profiles
profile_t currentProfile; // profile config struct
static const uint8_t EEPROM_CONF_VERSION = 73;
static const uint8_t EEPROM_CONF_VERSION = 74;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -305,6 +305,7 @@ static void resetConf(void)
currentProfile.mag_declination = 0;
currentProfile.acc_lpf_factor = 4;
currentProfile.accz_lpf_cutoff = 5.0f;
currentProfile.accDeadband.xy = 40;
currentProfile.accDeadband.z = 40;
@ -425,6 +426,7 @@ void activateConfig(void)
configureImu(&imuRuntimeConfig, &currentProfile.pidProfile, &currentProfile.barometerConfig, &currentProfile.accDeadband);
calculateThrottleAngleScale(currentProfile.throttle_correction_angle);
calculateAccZLowPassFilterRCTimeConstant(currentProfile.accz_lpf_cutoff);
#ifdef BARO
useBarometerConfig(&currentProfile.barometerConfig);