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Initial default suggestions for 3.4

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Set default RC smoothing channels to RPYT

first attempt at enabling features by default

update filter notes
This commit is contained in:
ctzsnooze 2018-06-03 21:39:51 +10:00 • committed by mikeller
parent 54c3363719
commit 705d3939eb
4 changed files with 21 additions and 21 deletions
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2
src/main/config/feature.c
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@ -34,7 +34,7 @@ static uint32_t activeFeaturesLatch = 0;
PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0); PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
PG_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
.enabledFeatures = DEFAULT_FEATURES | DEFAULT_RX_FEATURE .enabledFeatures = DEFAULT_FEATURES | DEFAULT_RX_FEATURE | FEATURE_DYNAMIC_FILTER | FEATURE_ANTI_GRAVITY,
); );
void intFeatureSet(uint32_t mask, uint32_t *features) void intFeatureSet(uint32_t mask, uint32_t *features)

26
src/main/flight/pid.c
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@ -100,9 +100,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
{ {
RESET_CONFIG(pidProfile_t, pidProfile, RESET_CONFIG(pidProfile_t, pidProfile,
.pid = { .pid = {
[PID_ROLL] = { 40, 40, 30 }, [PID_ROLL] = { 46, 45, 25 },
[PID_PITCH] = { 58, 50, 35 }, [PID_PITCH] = { 50, 50, 27 },
[PID_YAW] = { 70, 45, 20 }, [PID_YAW] = { 65, 45, 20 },
[PID_ALT] = { 50, 0, 0 }, [PID_ALT] = { 50, 0, 0 },
[PID_POS] = { 15, 0, 0 }, // POSHOLD_P * 100, POSHOLD_I * 100, [PID_POS] = { 15, 0, 0 }, // POSHOLD_P * 100, POSHOLD_I * 100,
[PID_POSR] = { 34, 14, 53 }, // POSHOLD_RATE_P * 10, POSHOLD_RATE_I * 100, POSHOLD_RATE_D * 1000, [PID_POSR] = { 34, 14, 53 }, // POSHOLD_RATE_P * 10, POSHOLD_RATE_I * 100, POSHOLD_RATE_D * 1000,
@ -115,21 +115,21 @@ void resetPidProfile(pidProfile_t *pidProfile)
.pidSumLimit = PIDSUM_LIMIT, .pidSumLimit = PIDSUM_LIMIT,
.pidSumLimitYaw = PIDSUM_LIMIT_YAW, .pidSumLimitYaw = PIDSUM_LIMIT_YAW,
.yaw_lowpass_hz = 0, .yaw_lowpass_hz = 0,
.dterm_lowpass_hz = 100, // filtering ON by default .dterm_lowpass_hz = 100, // dual PT1 filtering ON by default
.dterm_lowpass2_hz = 0, // second Dterm LPF OFF by default .dterm_lowpass2_hz = 200, // second Dterm LPF ON by default
.dterm_notch_hz = 260, .dterm_notch_hz = 0,
.dterm_notch_cutoff = 160, .dterm_notch_cutoff = 160,
.dterm_filter_type = FILTER_BIQUAD, .dterm_filter_type = FILTER_PT1,
.itermWindupPointPercent = 50, .itermWindupPointPercent = 40,
.vbatPidCompensation = 0, .vbatPidCompensation = 0,
.pidAtMinThrottle = PID_STABILISATION_ON, .pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55, .levelAngleLimit = 55,
.setpointRelaxRatio = 100, .setpointRelaxRatio = 0,
.dtermSetpointWeight = 45, .dtermSetpointWeight = 60,
.yawRateAccelLimit = 100, .yawRateAccelLimit = 100,
.rateAccelLimit = 0, .rateAccelLimit = 0,
.itermThrottleThreshold = 350, .itermThrottleThreshold = 350,
.itermAcceleratorGain = 1000, .itermAcceleratorGain = 5000,
.crash_time = 500, // ms .crash_time = 500, // ms
.crash_delay = 0, // ms .crash_delay = 0, // ms
.crash_recovery_angle = 10, // degrees .crash_recovery_angle = 10, // degrees
@ -142,9 +142,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
.horizon_tilt_expert_mode = false, .horizon_tilt_expert_mode = false,
.crash_limit_yaw = 200, .crash_limit_yaw = 200,
.itermLimit = 150, .itermLimit = 150,
.throttle_boost = 0, .throttle_boost = 5,
.throttle_boost_cutoff = 15, .throttle_boost_cutoff = 15,
.iterm_rotation = false, .iterm_rotation = true,
.smart_feedforward = false, .smart_feedforward = false,
.iterm_relax = ITERM_RELAX_OFF, .iterm_relax = ITERM_RELAX_OFF,
.iterm_relax_cutoff = 11, .iterm_relax_cutoff = 11,

2
src/main/pg/rx.c
View file

@ -56,7 +56,7 @@ void pgResetFn_rxConfig(rxConfig_t *rxConfig)
.rssi_offset = 0, .rssi_offset = 0,
.rssi_invert = 0, .rssi_invert = 0,
.rcInterpolation = RC_SMOOTHING_AUTO, .rcInterpolation = RC_SMOOTHING_AUTO,
.rcInterpolationChannels = INTERPOLATION_CHANNELS_RP, .rcInterpolationChannels = INTERPOLATION_CHANNELS_RPT,
.rcInterpolationInterval = 19, .rcInterpolationInterval = 19,
.fpvCamAngleDegrees = 0, .fpvCamAngleDegrees = 0,
.airModeActivateThreshold = 32, .airModeActivateThreshold = 32,

12
src/main/sensors/gyro.c
View file

@ -183,16 +183,16 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL, .gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL,
.gyro_32khz_hardware_lpf = GYRO_32KHZ_HARDWARE_LPF_NORMAL, .gyro_32khz_hardware_lpf = GYRO_32KHZ_HARDWARE_LPF_NORMAL,
.gyro_lowpass_type = FILTER_PT1, .gyro_lowpass_type = FILTER_PT1,
.gyro_lowpass_hz = 90, .gyro_lowpass_hz = 100,
.gyro_lowpass2_type = FILTER_PT1, .gyro_lowpass2_type = FILTER_PT1,
.gyro_lowpass2_hz = 0, .gyro_lowpass2_hz = 300,
.gyro_high_fsr = false, .gyro_high_fsr = false,
.gyro_use_32khz = false, .gyro_use_32khz = false,
.gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT, .gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT,
.gyro_soft_notch_hz_1 = 400, .gyro_soft_notch_hz_1 = 0,
.gyro_soft_notch_cutoff_1 = 300, .gyro_soft_notch_cutoff_1 = 0,
.gyro_soft_notch_hz_2 = 200, .gyro_soft_notch_hz_2 = 0,
.gyro_soft_notch_cutoff_2 = 100, .gyro_soft_notch_cutoff_2 = 0,
.checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES, .checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES,
.gyro_offset_yaw = 0, .gyro_offset_yaw = 0,
.yaw_spin_recovery = true, .yaw_spin_recovery = true,