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Add more filter freedom

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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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3
src/main/flight/pid.h
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@ -80,8 +80,11 @@ typedef struct pidProfile_s {
uint8_t I8[PID_ITEM_COUNT];
uint8_t D8[PID_ITEM_COUNT];
uint8_t dterm_filter_type; // Filter selection for dterm
uint16_t dterm_lpf_hz; // Delta Filter in hz
uint16_t yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
uint16_t dterm_notch_hz; // Biquad dterm notch hz
uint8_t dterm_notch_q; // Biquad dterm notch quality
uint8_t deltaMethod; // Alternative delta Calculation
uint16_t rollPitchItermIgnoreRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
uint16_t yawItermIgnoreRate; // Experimental threshold for resetting iterm for yaw on certain rates