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Merge branch 'lowpass' of https://github.com/fusterjj/cleanflight into fusterjj-lowpass

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	src/main/flight/mixer.c
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Dominic Clifton 2015-02-22 14:55:04 +00:00
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docs/Mixer.md
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@ -45,14 +45,12 @@ You can also use the Command Line Interface (CLI) to set the mixer type:
A low-pass filter can be enabled for the servos. It may be useful for avoiding structural modes in the airframe, for example. Currently it can only be configured via the CLI:
1. Use `set servo_lowpass_freq_idx = nn` to select the cutoff frequency. Valid values range from 0 to 99.
1. Use `set servo_lowpass_freq = nnn` to select the cutoff frequency. Valid values range from 10 to 400. This is a fraction of the loop frequency in 1/1000ths. For example, `40` means `0.040`.
2. Use `set servo_lowpass_enable = 1` to enable filtering.
The actual cutoff frequency is determined by the value of the `looptime` variable and the selected index.
The formula is:
`Frequency = 1000000 * (servo_lowpass_freq_idx + 1)*0.0025 / looptime )`
For example, if `servo_lowpass_freq_idx` is set to 40, and looptime is set to the default of 3500 us (0.0035 s), the cutoff frequency will be 29.3 Hz.
The cutoff frequency can be determined by the following formula:
`Frequency = 1000 * servo_lowpass_freq / looptime`
For example, if `servo_lowpass_freq` is set to 40, and looptime is set to the default of 3500 us, the cutoff frequency will be 11.43 Hz.