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Unify lowpass settings regardless of whether USE_DYN_LPF is defined

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Defaults will be the same regardless of whether the target has `USE_DYN_LPF` included. Previously the defaults would vary and it wouldn't be obvious why.

Defaults are as follows:
gyro lowpass 1: 150/BIQUAD
gyro lowpass 2: OFF
dterm lowpass 1: 150/BIQUAD
dterm lowpass 2: 150/BIQUAD

Nothing has changed int eh dynamic lowpass logic. If it's enabled those settings will be used in place of the static lowpass cutoff.

Needs coordination with the Configurator to change the defaults used when re-eanbling the lowpass filters as they are currently based on previous version settings and will dfault to inappropriate values.
This commit is contained in:
Bruce Luckcuck 2019-04-02 11:03:05 -04:00
parent dcb34d3761
commit 96ee9e3103
3 changed files with 14 additions and 27 deletions
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8
src/main/fc/config.c
View file

@ -201,10 +201,6 @@ static void validateAndFixConfig(void)
if (pidProfilesMutable(i)->dyn_lpf_dterm_min_hz > pidProfilesMutable(i)->dyn_lpf_dterm_max_hz) {
pidProfilesMutable(i)->dyn_lpf_dterm_min_hz = 0;
}
if (pidProfilesMutable(i)->dyn_lpf_dterm_min_hz > 0) {
pidProfilesMutable(i)->dterm_lowpass_hz = 0;
}
#endif
if (pidProfilesMutable(i)->motor_output_limit > 100 || pidProfilesMutable(i)->motor_output_limit == 0) {
@ -491,10 +487,6 @@ void validateAndFixGyroConfig(void)
if (gyroConfig()->dyn_lpf_gyro_min_hz > gyroConfig()->dyn_lpf_gyro_max_hz) {
gyroConfigMutable()->dyn_lpf_gyro_min_hz = 0;
}
if (gyroConfig()->dyn_lpf_gyro_min_hz > 0) {
gyroConfigMutable()->gyro_lowpass_hz = 0;
}
#endif
if (gyroConfig()->gyro_hardware_lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) {