From c0c726a2722309ce993984e17c95a7fd09f8e346 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Sat, 12 Mar 2016 19:22:52 +1000 Subject: [PATCH] ST gyro LPF fix. Default gyro lpd to 98Hz --- src/main/config/config.c | 4 ++-- src/main/drivers/accgyro_l3g4200d.c | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/config/config.c b/src/main/config/config.c index b16c0d6a2d..f9ff059c1f 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -426,10 +426,10 @@ static void resetConf(void) // global settings masterConfig.current_profile_index = 0; // default profile masterConfig.dcm_kp_acc = 2500; // 0.25 * 10000 - masterConfig.dcm_ki_acc = 0; // 0.00 * 10000 + masterConfig.dcm_ki_acc = 50; // 0.005 * 10000 masterConfig.dcm_kp_mag = 10000; // 1.00 * 10000 masterConfig.dcm_ki_mag = 0; // 0.00 * 10000 - masterConfig.gyro_lpf = 3; // BITS_DLPF_CFG_42HZ, In case of ST gyro, will default to 32Hz instead + masterConfig.gyro_lpf = 2; // BITS_DLPF_CFG_98HZ, In case of ST gyro, will default to 54Hz instead resetAccelerometerTrims(&masterConfig.accZero, &masterConfig.accGain); diff --git a/src/main/drivers/accgyro_l3g4200d.c b/src/main/drivers/accgyro_l3g4200d.c index 25790fef5e..8dded9b62f 100644 --- a/src/main/drivers/accgyro_l3g4200d.c +++ b/src/main/drivers/accgyro_l3g4200d.c @@ -85,16 +85,16 @@ static void l3g4200dInit(uint8_t lpf) // Conversion from MPU6XXX LPF values switch (lpf) { default: - case 3: + case 3: // BITS_DLPF_CFG_42HZ mpuLowPassFilter = L3G4200D_DLPF_32HZ; break; - case 4: + case 2: // BITS_DLPF_CFG_98HZ mpuLowPassFilter = L3G4200D_DLPF_54HZ; break; - case 5: + case 1: // BITS_DLPF_CFG_188HZ mpuLowPassFilter = L3G4200D_DLPF_78HZ; break; - case 6: + case 0: // BITS_DLPF_CFG_256HZ mpuLowPassFilter = L3G4200D_DLPF_93HZ; break; }