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Fix incorrect coefficient when pid_denom > 1 is used

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borisbstyle 2016-08-11 20:07:55 +02:00
parent fac3a98516
commit 8140959f2d
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/pid.c
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@ -113,13 +113,13 @@ void initFilters(const pidProfile_t *pidProfile)
if (pidProfile->dterm_notch_hz && !dtermNotchInitialised) { if (pidProfile->dterm_notch_hz && !dtermNotchInitialised) {
float notchQ = filterGetNotchQ(pidProfile->dterm_notch_hz, pidProfile->dterm_notch_cutoff); 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; dtermNotchInitialised = true;
} }
if (pidProfile->dterm_filter_type == FILTER_BIQUAD) { if (pidProfile->dterm_filter_type == FILTER_BIQUAD) {
if (pidProfile->dterm_lpf_hz && !dtermBiquadLpfInitialised) { 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; dtermBiquadLpfInitialised = true;
} }
} }