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Merge pull request #7888 from mikeller/fix_lowpass_defaults

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Fixed defaults for lowpass filters.
This commit is contained in:
Michael Keller 2019-03-30 11:09:10 +13:00 • committed by GitHub
commit ef831e64b1
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3 changed files with 41 additions and 27 deletions
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6
src/main/flight/pid.c
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@ -203,7 +203,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.transient_throttle_limit = 15,
);
#ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 150;
pidProfile->dterm_lowpass_hz = 0;
pidProfile->dterm_lowpass2_hz = 150;
pidProfile->dterm_filter_type = FILTER_BIQUAD;
pidProfile->dterm_filter2_type = FILTER_BIQUAD;
@ -339,7 +339,9 @@ void pidInitFilters(const pidProfile_t *pidProfile)
uint16_t dterm_lowpass_hz = pidProfile->dterm_lowpass_hz;
#ifdef USE_DYN_LPF
dterm_lowpass_hz = MAX(pidProfile->dterm_lowpass_hz, pidProfile->dyn_lpf_dterm_min_hz);
if (pidProfile->dyn_lpf_dterm_min_hz) {
dterm_lowpass_hz = pidProfile->dyn_lpf_dterm_min_hz;
}
#endif
if (dterm_lowpass_hz > 0 && dterm_lowpass_hz < pidFrequencyNyquist) {