Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00
Code Issues Wiki Activity

Tidied initialisation, especially PID filters

Browse source
This commit is contained in:
Martin Budden 2016-11-23 14:09:08 +00:00
parent 81f6a1886a
commit e9407f3065
11 changed files with 82 additions and 44 deletions
Download patch file Download diff file Expand all files Collapse all files

29
src/main/fc/config.c
View file

@ -564,7 +564,7 @@ void createDefaultConfig(master_t *config)
config->current_profile_index = 0; // default profile
config->dcm_kp = 2500; // 1.0 * 10000
config->dcm_ki = 0; // 0.003 * 10000
config->gyro_lpf = 0; // 256HZ default
config->gyro_lpf = GYRO_LPF_256HZ; // 256HZ default
#ifdef STM32F10X
config->gyro_sync_denom = 8;
config->pid_process_denom = 1;
@ -830,13 +830,6 @@ void activateConfig(void)
&currentProfile->pidProfile
);
// Prevent invalid notch cutoff
if (masterConfig.gyro_soft_notch_cutoff_1 >= masterConfig.gyro_soft_notch_hz_1)
masterConfig.gyro_soft_notch_hz_1 = 0;
if (masterConfig.gyro_soft_notch_cutoff_2 >= masterConfig.gyro_soft_notch_hz_2)
masterConfig.gyro_soft_notch_hz_2 = 0;
gyroUseConfig(&masterConfig.gyroConfig,
masterConfig.gyro_soft_lpf_hz,
masterConfig.gyro_soft_notch_hz_1,
@ -998,12 +991,30 @@ void validateAndFixConfig(void)
if (!isSerialConfigValid(serialConfig)) {
resetSerialConfig(serialConfig);
}
validateAndFixGyroConfig();
#if defined(TARGET_VALIDATECONFIG)
targetValidateConfiguration(&masterConfig);
#endif
}
void validateAndFixGyroConfig(void)
{
// Prevent invalid notch cutoff
if (masterConfig.gyro_soft_notch_cutoff_1 >= masterConfig.gyro_soft_notch_hz_1) {
masterConfig.gyro_soft_notch_hz_1 = 0;
}
if (masterConfig.gyro_soft_notch_cutoff_2 >= masterConfig.gyro_soft_notch_hz_2) {
masterConfig.gyro_soft_notch_hz_2 = 0;
}
if (masterConfig.gyro_lpf != GYRO_LPF_256HZ && masterConfig.gyro_lpf != GYRO_LPF_NONE) {
masterConfig.pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
masterConfig.gyro_sync_denom = 1;
}
}
void readEEPROMAndNotify(void)
{
// re-read written data