Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 00:35:39 +03:00
Code Issues Wiki Activity

include lpf1 and make Dterm Static behaviour consistent with gyro static

Browse source 
white to force re-check
This commit is contained in:
ctzsnooze 2021-10-22 16:31:43 +11:00
parent 0b3a5a651b
commit e702443730
3 changed files with 14 additions and 8 deletions
Download patch file Download diff file Expand all files Collapse all files

11
src/main/flight/pid.c
View file

@ -173,10 +173,11 @@ void resetPidProfile(pidProfile_t *pidProfile)
.abs_control_error_limit = 20,
.abs_control_cutoff = 11,
.antiGravityMode = ANTI_GRAVITY_SMOOTH,
.dterm_lpf1_static_hz = 150, // 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.
.dterm_lpf1_static_hz = DTERM_LPF1_DYN_MIN_HZ_DEFAULT,
// 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.
.dterm_lpf2_static_hz = DTERM_LPF2_HZ_DEFAULT, // second Dterm LPF ON by default
.dterm_lpf1_type = FILTER_PT1,
.dterm_lpf2_type = FILTER_PT1,
@ -222,10 +223,12 @@ void resetPidProfile(pidProfile_t *pidProfile)
.simplified_dterm_filter = true,
.simplified_dterm_filter_multiplier = SIMPLIFIED_TUNING_DEFAULT,
);
#ifndef USE_D_MIN
pidProfile->pid[PID_ROLL].D = 30;
pidProfile->pid[PID_PITCH].D = 32;
#endif
#ifdef USE_SIMPLIFIED_TUNING
applySimplifiedTuning(pidProfile);
#endif