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Change defaults // Add optional filter config

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This commit is contained in:
borisbstyle 2016-08-01 23:37:52 +02:00
parent 75c139faf2
commit ca703b1ff1
5 changed files with 36 additions and 11 deletions
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15
src/main/config/config.c
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@ -240,13 +240,13 @@ static void resetPidProfile(pidProfile_t *pidProfile)
// Betaflight PID controller parameters
pidProfile->ptermSetpointWeight = 75;
pidProfile->dtermSetpointWeight = 0;
pidProfile->dtermSetpointWeight = 200;
pidProfile->pidMaxVelocity = 1000;
pidProfile->pidMaxVelocityYaw = 50;
pidProfile->toleranceBand = 15;
pidProfile->toleranceBand = 20;
pidProfile->toleranceBandReduction = 40;
pidProfile->zeroCrossAllowanceCount = 2;
pidProfile->itermThrottleGain = 10;
pidProfile->itermThrottleGain = 0;
#ifdef GTUNE
pidProfile->gtune_lolimP[ROLL] = 10; // [0..200] Lower limit of ROLL P during G tune.
@ -475,11 +475,12 @@ static void resetConf(void)
masterConfig.gyro_sync_denom = 4;
masterConfig.pid_process_denom = 2;
#endif
masterConfig.gyro_soft_lpf_hz = 100;
masterConfig.gyro_soft_type = GYRO_FILTER_PT1;
masterConfig.gyro_soft_lpf_hz = 80;
masterConfig.gyro_soft_notch_hz = 0;
masterConfig.gyro_soft_notch_q = 5;
masterConfig.debug_mode = 0;
masterConfig.debug_mode = DEBUG_NONE;
resetAccelerometerTrims(&masterConfig.accZero);
@ -527,7 +528,7 @@ static void resetConf(void)
masterConfig.rxConfig.rssi_channel = 0;
masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
masterConfig.rxConfig.rssi_ppm_invert = 0;
masterConfig.rxConfig.rcSmoothing = RC_SMOOTHING_OFF;
masterConfig.rxConfig.rcSmoothing = RC_SMOOTHING_AUTO;
masterConfig.rxConfig.rcSmoothInterval = 9;
masterConfig.rxConfig.fpvCamAngleDegrees = 0;
masterConfig.rxConfig.max_aux_channel = MAX_AUX_CHANNELS;
@ -742,7 +743,7 @@ void activateConfig(void)
&currentProfile->pidProfile
);
gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz, masterConfig.gyro_soft_notch_hz, masterConfig.gyro_soft_notch_q);
gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz, masterConfig.gyro_soft_notch_hz, masterConfig.gyro_soft_notch_q, masterConfig.gyro_soft_type);
#ifdef TELEMETRY
telemetryUseConfig(&masterConfig.telemetryConfig);