From e1c1fa8e47a8e13bf7261a7bac3e00f14cc6e414 Mon Sep 17 00:00:00 2001 From: ctzsnooze Date: Sat, 31 Aug 2019 12:25:37 +1000 Subject: [PATCH] Set static lowpass1 on gyro to match gyro lowpass1 min In 4.0, the dynamic gyro lowpass1 min and the static gyro lowpass1 alternative had the same values, so that if the dynamic lowpass was not active, we would get conservative static filtering. In moving to 4.1 with PT1 filtering we have raised the dynamic gyro lowpass1 min, but not raised the static gyro lowpass1 value. We should make them both the same, again. --- src/main/sensors/gyro.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index 5374cc2de2..01069e8994 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -204,7 +204,7 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig) gyroConfig->gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT; gyroConfig->gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL; gyroConfig->gyro_lowpass_type = FILTER_PT1; - gyroConfig->gyro_lowpass_hz = 150; // NOTE: dynamic lpf is enabled by default so this setting is actually + gyroConfig->gyro_lowpass_hz = 200; // 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.