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Merge pull request #7918 from etracer65/unify_lowpass_settings

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Unify lowpass settings regardless of whether USE_DYN_LPF is defined
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Michael Keller 2019-04-04 01:42:02 +13:00 • committed by GitHub
commit 2eb8762d6f
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3 changed files with 14 additions and 27 deletions
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8
src/main/fc/config.c
View file

@ -201,10 +201,6 @@ static void validateAndFixConfig(void)
if (pidProfilesMutable(i)->dyn_lpf_dterm_min_hz > pidProfilesMutable(i)->dyn_lpf_dterm_max_hz) {
pidProfilesMutable(i)->dyn_lpf_dterm_min_hz = 0;
}
if (pidProfilesMutable(i)->dyn_lpf_dterm_min_hz > 0) {
pidProfilesMutable(i)->dterm_lowpass_hz = 0;
}
#endif
if (pidProfilesMutable(i)->motor_output_limit > 100 || pidProfilesMutable(i)->motor_output_limit == 0) {
@ -491,10 +487,6 @@ void validateAndFixGyroConfig(void)
if (gyroConfig()->dyn_lpf_gyro_min_hz > gyroConfig()->dyn_lpf_gyro_max_hz) {
gyroConfigMutable()->dyn_lpf_gyro_min_hz = 0;
}
if (gyroConfig()->dyn_lpf_gyro_min_hz > 0) {
gyroConfigMutable()->gyro_lowpass_hz = 0;
}
#endif
if (gyroConfig()->gyro_hardware_lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) {

17
src/main/flight/pid.c
View file

@ -181,10 +181,13 @@ void resetPidProfile(pidProfile_t *pidProfile)
.abs_control_error_limit = 20,
.abs_control_cutoff = 11,
.antiGravityMode = ANTI_GRAVITY_SMOOTH,
.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,
.dterm_lowpass_hz = 150, // NOTE: dynamic lpf is enabled by default so this setting is actually
// overridden and the static lowpass 1 is disabled. We can't set this
// value to 0 otherwise Configurator versions 10.4 and earlier will also
// reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
.dterm_lowpass2_hz = 150, // second Dterm LPF ON by default
.dterm_filter_type = FILTER_BIQUAD,
.dterm_filter2_type = FILTER_BIQUAD,
.dyn_lpf_dterm_min_hz = 150,
.dyn_lpf_dterm_max_hz = 250,
.launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
@ -202,12 +205,6 @@ void resetPidProfile(pidProfile_t *pidProfile)
.auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY,
.transient_throttle_limit = 15,
);
#ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 0;
pidProfile->dterm_lowpass2_hz = 150;
pidProfile->dterm_filter_type = FILTER_BIQUAD;
pidProfile->dterm_filter2_type = FILTER_BIQUAD;
#endif
#ifndef USE_D_MIN
pidProfile->pid[PID_ROLL].D = 30;
pidProfile->pid[PID_PITCH].D = 32;

16
src/main/sensors/gyro.c
View file

@ -203,10 +203,13 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
gyroConfig->gyroMovementCalibrationThreshold = 48;
gyroConfig->gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT;
gyroConfig->gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL;
gyroConfig->gyro_lowpass_type = FILTER_PT1;
gyroConfig->gyro_lowpass_hz = 100;
gyroConfig->gyro_lowpass2_type = FILTER_PT1;
gyroConfig->gyro_lowpass2_hz = 300;
gyroConfig->gyro_lowpass_type = FILTER_BIQUAD;
gyroConfig->gyro_lowpass_hz = 150; // NOTE: dynamic lpf is enabled by default so this setting is actually
// overridden and the static lowpass 1 is disabled. We can't set this
// value to 0 otherwise Configurator versions 10.4 and earlier will also
// reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
gyroConfig->gyro_lowpass2_type = FILTER_BIQUAD;
gyroConfig->gyro_lowpass2_hz = 0;
gyroConfig->gyro_high_fsr = false;
gyroConfig->gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT;
gyroConfig->gyro_soft_notch_hz_1 = 0;
@ -223,11 +226,6 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
gyroConfig->dyn_notch_width_percent = 8;
gyroConfig->dyn_notch_q = 120;
gyroConfig->dyn_notch_min_hz = 150;
#ifdef USE_DYN_LPF
gyroConfig->gyro_lowpass_hz = 0;
gyroConfig->gyro_lowpass_type = FILTER_BIQUAD;
gyroConfig->gyro_lowpass2_hz = 0;
#endif
gyroConfig->gyro_filter_debug_axis = FD_ROLL;
}