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Code Issues Wiki Activity

Configurable Soft LPF values (gyro_lpf_hz and dterm_lpf_hz)

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This commit is contained in:
borisbstyle 2016-01-14 14:34:46 +01:00
parent a8916a3ddd
commit 93d917af3b
8 changed files with 88 additions and 98 deletions
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7
src/main/config/config.c
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@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 117;
static const uint8_t EEPROM_CONF_VERSION = 118;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -176,7 +176,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->I8[PIDVEL] = 45;
pidProfile->D8[PIDVEL] = 1;
pidProfile->gyro_soft_lpf = 1; // filtering ON by default
pidProfile->gyro_lpf_hz = 60; // filtering ON by default
pidProfile->dterm_lpf_hz = 50; // filtering ON by default
pidProfile->airModeInsaneAcrobilityFactor = 0;
pidProfile->P_f[ROLL] = 1.5f; // new PID with preliminary defaults test carefully
@ -747,7 +748,7 @@ void activateConfig(void)
&currentProfile->pidProfile
);
useGyroConfig(&masterConfig.gyroConfig, currentProfile->pidProfile.gyro_soft_lpf);
useGyroConfig(&masterConfig.gyroConfig, &currentProfile->pidProfile.gyro_lpf_hz);
#ifdef TELEMETRY
telemetryUseConfig(&masterConfig.telemetryConfig);