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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
Download patch file Download diff file Expand all files Collapse all files

17
src/main/flight/pid.c
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@ -181,10 +181,13 @@ void resetPidProfile(pidProfile_t *pidProfile)
.abs_control_error_limit = 20,
.abs_control_cutoff = 11,
.antiGravityMode = ANTI_GRAVITY_SMOOTH,
.dterm_lowpass_hz = 100, // dual PT1 filtering ON by default
.dterm_lowpass2_hz = 200, // second Dterm LPF ON by default
.dterm_filter_type = FILTER_PT1,
.dterm_filter2_type = FILTER_PT1,
.dterm_lowpass_hz = 150, // NOTE: dynamic lpf is enabled by default so this setting is actually
// 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
// reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
.dterm_lowpass2_hz = 150, // second Dterm LPF ON by default
.dterm_filter_type = FILTER_BIQUAD,
.dterm_filter2_type = FILTER_BIQUAD,
.dyn_lpf_dterm_min_hz = 150,
.dyn_lpf_dterm_max_hz = 250,
.launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
@ -202,12 +205,6 @@ void resetPidProfile(pidProfile_t *pidProfile)
.auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY,
.transient_throttle_limit = 15,
);
#ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 0;
pidProfile->dterm_lowpass2_hz = 150;
pidProfile->dterm_filter_type = FILTER_BIQUAD;
pidProfile->dterm_filter2_type = FILTER_BIQUAD;
#endif
#ifndef USE_D_MIN
pidProfile->pid[PID_ROLL].D = 30;
pidProfile->pid[PID_PITCH].D = 32;