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Remove gyro notch as default // Remove yaw srate ratio

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This commit is contained in:
borisbstyle 2016-09-09 09:21:49 +02:00
parent 6f58f36190
commit 389a27e3f1
2 changed files with 4 additions and 4 deletions
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6
src/main/config/config.c
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@ -247,7 +247,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
// Betaflight PID controller parameters
pidProfile->ptermSRateWeight = 100;
pidProfile->ptermSRateWeight = 85;
pidProfile->dtermSetpointWeight = 150;
pidProfile->yawRateAccelLimit = 220;
pidProfile->rateAccelLimit = 0;
@ -488,8 +488,8 @@ void createDefaultConfig(master_t *config)
#endif
config->gyro_soft_type = FILTER_PT1;
config->gyro_soft_lpf_hz = 90;
config->gyro_soft_notch_hz = 220;
config->gyro_soft_notch_cutoff = 110;
config->gyro_soft_notch_hz = 0;
config->gyro_soft_notch_cutoff = 130;
config->debug_mode = DEBUG_NONE;

2
src/main/mw.c
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@ -203,7 +203,7 @@ void calculateSetpointRate(int axis, int16_t rc) {
rcSuperfactor = 1.0f / (constrainf(1.0f - (ABS(rcCommandf) * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
if (currentProfile->pidProfile.pidController == PID_CONTROLLER_BETAFLIGHT) {
ptermSetpointRate[axis] = angleRate * rcSuperfactor;
if (currentProfile->pidProfile.ptermSRateWeight < 100) {
if (currentProfile->pidProfile.ptermSRateWeight < 100 && axis != YAW) {
const float pWeight = currentProfile->pidProfile.ptermSRateWeight / 100.0f;
angleRate = angleRate + (pWeight * ptermSetpointRate[axis] - angleRate);
} else {