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Add more filter freedom

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This commit is contained in:
borisbstyle 2016-08-03 11:51:12 +02:00
parent ca703b1ff1
commit 771feb8fde
8 changed files with 66 additions and 20 deletions
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8
src/main/config/config.c
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@ -20,6 +20,7 @@
#include <string.h>
#include "platform.h"
#include "debug.h"
#include "build_config.h"
@ -171,7 +172,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 141;
static const uint8_t EEPROM_CONF_VERSION = 142;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -233,7 +234,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->yaw_lpf_hz = 80;
pidProfile->rollPitchItermIgnoreRate = 200;
pidProfile->yawItermIgnoreRate = 50;
pidProfile->dterm_filter_type = FILTER_PT1;
pidProfile->dterm_lpf_hz = 100; // filtering ON by default
pidProfile->dterm_notch_hz = 0;
pidProfile->dterm_notch_q = 5;
pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
pidProfile->vbatPidCompensation = 0;
pidProfile->zeroThrottleStabilisation = PID_STABILISATION_OFF;
@ -475,7 +479,7 @@ static void resetConf(void)
masterConfig.gyro_sync_denom = 4;
masterConfig.pid_process_denom = 2;
#endif
masterConfig.gyro_soft_type = GYRO_FILTER_PT1;
masterConfig.gyro_soft_type = FILTER_PT1;
masterConfig.gyro_soft_lpf_hz = 80;
masterConfig.gyro_soft_notch_hz = 0;
masterConfig.gyro_soft_notch_q = 5;