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Added missing simplified gyro tuning defaults.

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This commit is contained in:
Michael Keller 2020-12-26 14:15:22 +01:00
parent 7fc3c7cea6
commit 58b4cb916c
3 changed files with 12 additions and 8 deletions
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1
src/main/config/simplified_tuning.h
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@ -24,6 +24,7 @@
#define SIMPLIFIED_TUNING_MIN 50
#define SIMPLIFIED_TUNING_MAX 200
#define SIMPLIFIED_TUNING_DEFAULT 100
typedef enum {
PID_SIMPLIFIED_TUNING_OFF = 0,

16
src/main/flight/pid.c
View file

@ -211,15 +211,15 @@ void resetPidProfile(pidProfile_t *pidProfile)
.level_race_mode = false,
.vbat_sag_compensation = 0,
.simplified_pids_mode = PID_SIMPLIFIED_TUNING_OFF,
.simplified_master_multiplier = 100,
.simplified_roll_pitch_ratio = 100,
.simplified_i_gain = 100,
.simplified_pd_ratio = 100,
.simplified_pd_gain = 100,
.simplified_dmin_ratio = 100,
.simplified_ff_gain = 100,
.simplified_master_multiplier = SIMPLIFIED_TUNING_DEFAULT,
.simplified_roll_pitch_ratio = SIMPLIFIED_TUNING_DEFAULT,
.simplified_i_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_pd_ratio = SIMPLIFIED_TUNING_DEFAULT,
.simplified_pd_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_dmin_ratio = SIMPLIFIED_TUNING_DEFAULT,
.simplified_ff_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_dterm_filter = true,
.simplified_dterm_filter_multiplier = 100,
.simplified_dterm_filter_multiplier = SIMPLIFIED_TUNING_DEFAULT,
);
#ifndef USE_D_MIN
pidProfile->pid[PID_ROLL].D = 30;

3
src/main/sensors/gyro.c
View file

@ -33,6 +33,7 @@
#include "common/filter.h"
#include "config/feature.h"
#include "config/simplified_tuning.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
@ -133,6 +134,8 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
gyroConfig->dyn_notch_min_hz = 150;
gyroConfig->gyro_filter_debug_axis = FD_ROLL;
gyroConfig->dyn_lpf_curve_expo = 0;
gyroConfig->simplified_gyro_filter = false;
gyroConfig->simplified_gyro_filter_multiplier = SIMPLIFIED_TUNING_DEFAULT;
}
#ifdef USE_GYRO_DATA_ANALYSE