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Refactor BiQuad // Set filters to floats

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This commit is contained in:
borisbstyle 2016-02-03 13:46:56 +01:00
parent 403812c45f
commit eebacc2542
10 changed files with 32 additions and 39 deletions
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6
src/main/config/config.c
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@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 119;
static const uint8_t EEPROM_CONF_VERSION = 120;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -176,7 +176,6 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->I8[PIDVEL] = 45;
pidProfile->D8[PIDVEL] = 1;
pidProfile->gyro_lpf_hz = 60; // filtering ON by default
pidProfile->dterm_lpf_hz = 0; // filtering ON by default
pidProfile->deltaFromGyro = 1;
pidProfile->airModeInsaneAcrobilityFactor = 0;
@ -406,6 +405,7 @@ static void resetConf(void)
masterConfig.dcm_kp = 2500; // 1.0 * 10000
masterConfig.dcm_ki = 0; // 0.003 * 10000
masterConfig.gyro_lpf = 1; // 188HZ
masterConfig.gyro_soft_lpf_hz = 60;
resetAccelerometerTrims(&masterConfig.accZero);
@ -770,7 +770,7 @@ void activateConfig(void)
&currentProfile->pidProfile
);
useGyroConfig(&masterConfig.gyroConfig, currentProfile->pidProfile.gyro_lpf_hz);
useGyroConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz);
#ifdef TELEMETRY
telemetryUseConfig(&masterConfig.telemetryConfig);