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Allow width=0 to select single notch. Restore dyn lpf mins.

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This commit is contained in:
Kenneth Mitchell 2018-10-27 09:16:55 -04:00
parent 011eae93c6
commit 233ac7fb3f
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GPG key ID: E27133AAF586AB21
8 changed files with 45 additions and 30 deletions
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7
src/main/flight/pid.c
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@ -167,11 +167,12 @@ void resetPidProfile(pidProfile_t *pidProfile)
.abs_control_limit = 90,
.abs_control_error_limit = 20,
.antiGravityMode = ANTI_GRAVITY_SMOOTH,
.dyn_lpf_dterm_max_hz = 250,
.dterm_lowpass_hz = 100, // dual PT1 filtering ON by default
.dterm_lowpass2_hz = 200, // second Dterm LPF ON by default
.dterm_filter_type = FILTER_PT1,
.dterm_filter2_type = FILTER_PT1,
.dyn_lpf_dterm_min_hz = 150,
.dyn_lpf_dterm_max_hz = 250,
.launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
.launchControlThrottlePercent = 20,
.launchControlAngleLimit = 0,
@ -544,7 +545,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
#endif
#ifdef USE_DYN_LPF
if (pidProfile->dterm_lowpass_hz > 0 && pidProfile->dyn_lpf_dterm_max_hz > pidProfile->dterm_lowpass_hz) {
if (pidProfile->dyn_lpf_dterm_min_hz > 0 && pidProfile->dyn_lpf_dterm_max_hz > pidProfile->dyn_lpf_dterm_min_hz) {
switch (pidProfile->dterm_filter_type) {
case FILTER_PT1:
dynLpfFilter = DYN_LPF_PT1;
@ -559,7 +560,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
} else {
dynLpfFilter = DYN_LPF_NONE;
}
dynLpfMin = pidProfile->dterm_lowpass_hz;
dynLpfMin = pidProfile->dyn_lpf_dterm_min_hz;
dynLpfMax = pidProfile->dyn_lpf_dterm_max_hz;
#endif