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Revise pid_process_denom default logic

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Remove dependence on gyro type and base on MCU type.
This commit is contained in:
Bruce Luckcuck 2020-03-05 16:58:16 -05:00
parent c29b125a59
commit 46e6c7cab9
1 changed files with 7 additions and 4 deletions
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11
src/main/flight/pid.c
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@ -94,13 +94,16 @@ static FAST_RAM_ZERO_INIT bool zeroThrottleItermReset;
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 2);
#ifdef STM32F10X
#define PID_PROCESS_DENOM_DEFAULT 1
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
#if defined(STM32F1)
#define PID_PROCESS_DENOM_DEFAULT 8
#elif defined(STM32F3)
#define PID_PROCESS_DENOM_DEFAULT 4
#else
#elif defined(STM32F411xE)
#define PID_PROCESS_DENOM_DEFAULT 2
#else
#define PID_PROCESS_DENOM_DEFAULT 1
#endif
#if defined(USE_D_MIN)
#define D_MIN_GAIN_FACTOR 0.00005f
#define D_MIN_SETPOINT_GAIN_FACTOR 0.00005f