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Fix wrong filter selection and Scaling in Rewrite

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borisbstyle 2016-01-10 21:22:42 +01:00
parent e0e7db74f1
commit b6e0927f96
2 changed files with 3 additions and 4 deletions
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5
src/main/common/filter.c
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@ -41,9 +41,8 @@ float filterApplyPt1(float input, filterStatePt1_t *filter, uint8_t f_cut, float
static int8_t gyroFIRCoeff_500[FILTER_TAPS] = { 0, 18, 14, 16, 20, 22, 24, 25, 25, 24, 20, 18, 12, 18 }; // looptime=500; static int8_t gyroFIRCoeff_500[FILTER_TAPS] = { 0, 18, 14, 16, 20, 22, 24, 25, 25, 24, 20, 18, 12, 18 }; // looptime=500;
static int8_t gyroFIRCoeff_1000[FILTER_TAPS] = { 0, 0, 0, 0, 0, 0, 0, 12, 23, 40, 51, 52, 40, 38 }; // looptime=1000; group delay 2.5ms; -0.5db = 32Hz ; -1db = 45Hz; -5db = 97Hz; -10db = 132Hz static int8_t gyroFIRCoeff_1000[FILTER_TAPS] = { 0, 0, 0, 0, 0, 0, 0, 12, 23, 40, 51, 52, 40, 38 }; // looptime=1000; group delay 2.5ms; -0.5db = 32Hz ; -1db = 45Hz; -5db = 97Hz; -10db = 132Hz
static int8_t deltaFIRCoeff_500[FILTER_TAPS] = {36, 12, 14, 14, 16, 16, 18, 18, 18, 16, 16, 14, 12, 36};
static int8_t deltaFIRCoeff_500[FILTER_TAPS] = {0, 0, 0, 0, 0, 18, 12, 28, 40, 44, 40, 32, 22, 20}; static int8_t deltaFIRCoeff_1000[FILTER_TAPS] = {0, 0, 0, 0, 0, 18, 12, 28, 40, 44, 40, 32, 22, 20};
static int8_t deltaFIRCoeff_1000[FILTER_TAPS] = {36, 12, 14, 14, 16, 16, 18, 18, 18, 16, 16, 14, 12, 36};
int8_t * filterGetFIRCoefficientsTable(uint8_t filter_type, uint32_t targetLooptime) int8_t * filterGetFIRCoefficientsTable(uint8_t filter_type, uint32_t targetLooptime)
{ {

2
src/main/flight/pid.c
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@ -364,7 +364,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
filterApplyFIR(&delta, deltaFIRState[axis], deltaFIRTable); filterApplyFIR(&delta, deltaFIRState[axis], deltaFIRTable);
DTerm = (delta * 2 * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8; DTerm = (delta * 3 * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
// -----calculate total PID output // -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm; axisPID[axis] = PTerm + ITerm + DTerm;