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Code Issues Wiki Activity

Separated out pidConfig_t items

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This commit is contained in:
Martin Budden 2016-12-07 16:32:33 +00:00
parent d93224be06
commit d72b4e96c9
13 changed files with 33 additions and 31 deletions
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10
src/main/fc/config.c
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@ -613,14 +613,15 @@ void createDefaultConfig(master_t *config)
config->gyroConfig.gyro_lpf = GYRO_LPF_256HZ; // 256HZ default
#ifdef STM32F10X
config->gyroConfig.gyro_sync_denom = 8;
config->pid_process_denom = 1;
config->pidConfig.pid_process_denom = 1;
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
config->gyroConfig.gyro_sync_denom = 1;
config->pid_process_denom = 4;
config->pidConfig.pid_process_denom = 4;
#else
config->gyroConfig.gyro_sync_denom = 4;
config->pid_process_denom = 2;
config->pidConfig.pid_process_denom = 2;
#endif
config->pidConfig.max_angle_inclination = 700; // 70 degrees
config->gyroConfig.gyro_soft_lpf_type = FILTER_PT1;
config->gyroConfig.gyro_soft_lpf_hz = 90;
config->gyroConfig.gyro_soft_notch_hz_1 = 400;
@ -640,7 +641,6 @@ void createDefaultConfig(master_t *config)
config->boardAlignment.pitchDegrees = 0;
config->boardAlignment.yawDegrees = 0;
config->accelerometerConfig.acc_hardware = ACC_DEFAULT; // default/autodetect
config->max_angle_inclination = 700; // 70 degrees
config->rcControlsConfig.yaw_control_direction = 1;
config->gyroConfig.gyroMovementCalibrationThreshold = 32;
@ -1050,7 +1050,7 @@ void validateAndFixGyroConfig(void)
}
if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
masterConfig.pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
gyroConfig()->gyro_sync_denom = 1;
}
}