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Code Issues Wiki Activity

Moved gyro filter settings into gyroConfig

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This commit is contained in:
Martin Budden 2016-11-23 19:04:14 +00:00
parent fa4d04b5a7
commit 2c7d06a94e
9 changed files with 59 additions and 81 deletions
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28
src/main/fc/config.c
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@ -575,12 +575,12 @@ void createDefaultConfig(master_t *config)
config->gyro_sync_denom = 4;
config->pid_process_denom = 2;
#endif
config->gyro_soft_type = FILTER_PT1;
config->gyro_soft_lpf_hz = 90;
config->gyro_soft_notch_hz_1 = 400;
config->gyro_soft_notch_cutoff_1 = 300;
config->gyro_soft_notch_hz_2 = 200;
config->gyro_soft_notch_cutoff_2 = 100;
config->gyroConfig.gyro_soft_lpf_type = FILTER_PT1;
config->gyroConfig.gyro_soft_lpf_hz = 90;
config->gyroConfig.gyro_soft_notch_hz_1 = 400;
config->gyroConfig.gyro_soft_notch_cutoff_1 = 300;
config->gyroConfig.gyro_soft_notch_hz_2 = 200;
config->gyroConfig.gyro_soft_notch_cutoff_2 = 100;
config->debug_mode = DEBUG_NONE;
@ -830,13 +830,7 @@ void activateConfig(void)
&currentProfile->pidProfile
);
gyroUseConfig(&masterConfig.gyroConfig,
masterConfig.gyro_soft_lpf_hz,
masterConfig.gyro_soft_notch_hz_1,
masterConfig.gyro_soft_notch_cutoff_1,
masterConfig.gyro_soft_notch_hz_2,
masterConfig.gyro_soft_notch_cutoff_2,
masterConfig.gyro_soft_type);
gyroUseConfig(&masterConfig.gyroConfig);
#ifdef TELEMETRY
telemetryUseConfig(&masterConfig.telemetryConfig);
@ -1002,11 +996,11 @@ void validateAndFixConfig(void)
void validateAndFixGyroConfig(void)
{
// Prevent invalid notch cutoff
if (masterConfig.gyro_soft_notch_cutoff_1 >= masterConfig.gyro_soft_notch_hz_1) {
masterConfig.gyro_soft_notch_hz_1 = 0;
if (masterConfig.gyroConfig.gyro_soft_notch_cutoff_1 >= masterConfig.gyroConfig.gyro_soft_notch_hz_1) {
masterConfig.gyroConfig.gyro_soft_notch_hz_1 = 0;
}
if (masterConfig.gyro_soft_notch_cutoff_2 >= masterConfig.gyro_soft_notch_hz_2) {
masterConfig.gyro_soft_notch_hz_2 = 0;
if (masterConfig.gyroConfig.gyro_soft_notch_cutoff_2 >= masterConfig.gyroConfig.gyro_soft_notch_hz_2) {
masterConfig.gyroConfig.gyro_soft_notch_hz_2 = 0;
}
if (masterConfig.gyro_lpf != GYRO_LPF_256HZ && masterConfig.gyro_lpf != GYRO_LPF_NONE) {