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fixes #4288

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-02-03 11:59:49 +01:00
parent 04978a1694
commit b5a7fb1461
4 changed files with 4 additions and 6 deletions
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2
src/main/blackbox/blackbox.c
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@ -1616,7 +1616,7 @@ static bool blackboxWriteSysinfo(void)
gyroConfig()->gyro_soft_notch_hz_2);
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d", gyroConfig()->gyro_soft_notch_cutoff_1,
gyroConfig()->gyro_soft_notch_cutoff_2);
BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d", pidProfile()->acc_soft_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d", accelerometerConfig()->acc_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("acc_hardware", "%d", accelerometerConfig()->acc_hardware);
BLACKBOX_PRINT_HEADER_LINE("baro_hardware", "%d", barometerConfig()->baro_hardware);
BLACKBOX_PRINT_HEADER_LINE("mag_hardware", "%d", compassConfig()->mag_hardware);

4
src/main/fc/fc_msp.c
View file

@ -1107,7 +1107,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, HEADING_HOLD_ERROR_LPF_FREQ);
sbufWriteU16(dst, mixerConfig()->yaw_jump_prevention_limit);
sbufWriteU8(dst, gyroConfig()->gyro_lpf);
sbufWriteU8(dst, pidProfile()->acc_soft_lpf_hz);
sbufWriteU8(dst, accelerometerConfig()->acc_lpf_hz);
sbufWriteU8(dst, 0); //reserved
sbufWriteU8(dst, 0); //reserved
sbufWriteU8(dst, 0); //reserved
@ -1923,7 +1923,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
sbufReadU8(src); //HEADING_HOLD_ERROR_LPF_FREQ
mixerConfigMutable()->yaw_jump_prevention_limit = sbufReadU16(src);
gyroConfigMutable()->gyro_lpf = sbufReadU8(src);
pidProfileMutable()->acc_soft_lpf_hz = sbufReadU8(src);
accelerometerConfigMutable()->acc_lpf_hz = sbufReadU8(src);
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved

3
src/main/flight/pid.c
View file

@ -109,7 +109,7 @@ int32_t axisPID_P[FLIGHT_DYNAMICS_INDEX_COUNT], axisPID_I[FLIGHT_DYNAMICS_INDEX_
STATIC_FASTRAM pidState_t pidState[FLIGHT_DYNAMICS_INDEX_COUNT];
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 5);
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 6);
PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
.bank_mc = {
@ -170,7 +170,6 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
}
},
.acc_soft_lpf_hz = 15,
.dterm_soft_notch_hz = 0,
.dterm_soft_notch_cutoff = 1,
.dterm_lpf_hz = 40,

1
src/main/flight/pid.h
View file

@ -84,7 +84,6 @@ typedef struct pidProfile_s {
uint8_t dterm_lpf_hz; // (default 17Hz, Range 1-50Hz) Used for PT1 element in PID1, PID2 and PID5
uint8_t yaw_pterm_lpf_hz; // Used for filering Pterm noise on noisy frames
uint8_t acc_soft_lpf_hz; // Set the Low Pass Filter factor for ACC. Reducing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
uint8_t yaw_lpf_hz;
uint16_t yaw_p_limit;