From c26f033c0da9aae9630a4d07a6d0b053d0b1e24e Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 10 May 2019 20:15:53 +0200
Subject: [PATCH] make d boost gyro delta LPF configurable

---
 src/main/fc/settings.yaml | 5 +++++
 src/main/flight/pid.c     | 3 ++-
 src/main/flight/pid.h     | 1 +
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index af6a4f2d2c..15b12cacb9 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1146,6 +1146,11 @@ groups:
         condition: USE_D_BOOST
         min: 1000
         max: 16000
+      - name: d_boost_gyro_delta_lpf_hz
+        field: dBoostGyroDeltaLpfHz
+        condition: USE_D_BOOST
+        min: 10
+        max: 250
 
   - name: PG_PID_AUTOTUNE_CONFIG
     type: pidAutotuneConfig_t
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index a2558d6440..434bf3aa37 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -230,6 +230,7 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .iterm_relax = ITERM_RELAX_OFF,
         .dBoostFactor = 1.0f,
         .dBoostMaxAtAlleceleration = 7500.0f,
+        .dBoostGyroDeltaLpfHz = D_BOOST_GYRO_LPF_HZ,
 );
 
 void pidInit(void)
@@ -251,7 +252,7 @@ void pidInit(void)
     dBoostMaxAtAlleceleration = pidProfile()->dBoostMaxAtAlleceleration;
 
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        biquadFilterInitLPF(&dBoostGyroLpf[axis], D_BOOST_GYRO_LPF_HZ, getLooptime());
+        biquadFilterInitLPF(&dBoostGyroLpf[axis], pidProfile()->dBoostGyroDeltaLpfHz, getLooptime());
     }
 #endif
 
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index e14f2ccebe..befa9c6154 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -130,6 +130,7 @@ typedef struct pidProfile_s {
 
     float dBoostFactor;
     float dBoostMaxAtAlleceleration;
+    uint8_t dBoostGyroDeltaLpfHz;
 } pidProfile_t;
 
 typedef struct pidAutotuneConfig_s {