From 8140959f2d94beb0a6993b3451de832f70e48132 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Thu, 11 Aug 2016 20:07:55 +0200 Subject: [PATCH] Fix incorrect coefficient when pid_denom > 1 is used --- src/main/flight/pid.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index b9d82cac35..0f8d30fb9b 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -113,13 +113,13 @@ void initFilters(const pidProfile_t *pidProfile) if (pidProfile->dterm_notch_hz && !dtermNotchInitialised) { float notchQ = filterGetNotchQ(pidProfile->dterm_notch_hz, pidProfile->dterm_notch_cutoff); - for (axis = 0; axis < 3; axis++) biquadFilterInit(&dtermFilterNotch[axis], pidProfile->dterm_notch_hz, gyro.targetLooptime, notchQ, FILTER_NOTCH); + for (axis = 0; axis < 3; axis++) biquadFilterInit(&dtermFilterNotch[axis], pidProfile->dterm_notch_hz, targetPidLooptime, notchQ, FILTER_NOTCH); dtermNotchInitialised = true; } if (pidProfile->dterm_filter_type == FILTER_BIQUAD) { if (pidProfile->dterm_lpf_hz && !dtermBiquadLpfInitialised) { - for (axis = 0; axis < 3; axis++) biquadFilterInitLPF(&dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, gyro.targetLooptime); + for (axis = 0; axis < 3; axis++) biquadFilterInitLPF(&dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, targetPidLooptime); dtermBiquadLpfInitialised = true; } }