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For Discussion: modify filter defaults to reduce risk of flyaways

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Some users have reported flyaways on arming/throttling up with betaflight 4.0, in quads that fiy alright on 3.5.
This PR changes the default filtering so that D transmission more closely approximates that of 3.5.
With these defaults, quads that fly OK on 3.5 should not take-off vertically due to uncontrolled D oscillation.
This commit is contained in:
ctzsnooze 2019-04-19 11:48:44 +10:00
parent edcacb9f0d
commit 80f5fa2c6d
2 changed files with 4 additions and 4 deletions
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4
src/main/flight/pid.c
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@ -185,9 +185,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
// overridden and the static lowpass 1 is disabled. We can't set this // overridden and the static lowpass 1 is disabled. We can't set this
// value to 0 otherwise Configurator versions 10.4 and earlier will also // value to 0 otherwise Configurator versions 10.4 and earlier will also
// reset the lowpass filter type to PT1 overriding the desired BIQUAD setting. // reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
.dterm_lowpass2_hz = 150, // second Dterm LPF ON by default .dterm_lowpass2_hz = 100, // second Dterm LPF ON by default
.dterm_filter_type = FILTER_BIQUAD, .dterm_filter_type = FILTER_BIQUAD,
.dterm_filter2_type = FILTER_BIQUAD, .dterm_filter2_type = FILTER_PT1,
.dyn_lpf_dterm_min_hz = 150, .dyn_lpf_dterm_min_hz = 150,
.dyn_lpf_dterm_max_hz = 250, .dyn_lpf_dterm_max_hz = 250,
.launchControlMode = LAUNCH_CONTROL_MODE_NORMAL, .launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,

4
src/main/sensors/gyro.c
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@ -208,8 +208,8 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
// overridden and the static lowpass 1 is disabled. We can't set this // overridden and the static lowpass 1 is disabled. We can't set this
// value to 0 otherwise Configurator versions 10.4 and earlier will also // value to 0 otherwise Configurator versions 10.4 and earlier will also
// reset the lowpass filter type to PT1 overriding the desired BIQUAD setting. // reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
gyroConfig->gyro_lowpass2_type = FILTER_BIQUAD; gyroConfig->gyro_lowpass2_type = FILTER_PT1;
gyroConfig->gyro_lowpass2_hz = 0; gyroConfig->gyro_lowpass2_hz = 150;
gyroConfig->gyro_high_fsr = false; gyroConfig->gyro_high_fsr = false;
gyroConfig->gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT; gyroConfig->gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT;
gyroConfig->gyro_soft_notch_hz_1 = 0; gyroConfig->gyro_soft_notch_hz_1 = 0;