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Fixed setting of notch filter cutoffs to 0 in CLI.

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This commit is contained in:
mikeller 2017-09-08 02:19:22 +12:00 • committed by Michael Keller
parent 13308883b2
commit f5d2f534b4
2 changed files with 6 additions and 6 deletions
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6
src/main/flight/pid.c
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@ -172,7 +172,7 @@ void pidInitFilters(const pidProfile_t *pidProfile)
const uint32_t pidFrequencyNyquist = (1.0f / dT) / 2; // No rounding needed
float dTermNotchHz;
uint16_t dTermNotchHz;
if (pidProfile->dterm_notch_hz <= pidFrequencyNyquist) {
dTermNotchHz = pidProfile->dterm_notch_hz;
} else {
@ -183,8 +183,8 @@ void pidInitFilters(const pidProfile_t *pidProfile)
}
}
static biquadFilter_t biquadFilterNotch[2];
if (dTermNotchHz) {
if (dTermNotchHz != 0 && pidProfile->dterm_notch_cutoff != 0) {
static biquadFilter_t biquadFilterNotch[2];
dtermNotchFilterApplyFn = (filterApplyFnPtr)biquadFilterApply;
const float notchQ = filterGetNotchQ(dTermNotchHz, pidProfile->dterm_notch_cutoff);
for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) {