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make d boost gyro delta LPF configurable

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-05-10 20:15:53 +02:00
parent b5870f5975
commit c26f033c0d
3 changed files with 8 additions and 1 deletions
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5
src/main/fc/settings.yaml
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@ -1146,6 +1146,11 @@ groups:
condition: USE_D_BOOST condition: USE_D_BOOST
min: 1000 min: 1000
max: 16000 max: 16000
- name: d_boost_gyro_delta_lpf_hz
field: dBoostGyroDeltaLpfHz
condition: USE_D_BOOST
min: 10
max: 250
- name: PG_PID_AUTOTUNE_CONFIG - name: PG_PID_AUTOTUNE_CONFIG
type: pidAutotuneConfig_t type: pidAutotuneConfig_t

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

@ -230,6 +230,7 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
.iterm_relax = ITERM_RELAX_OFF, .iterm_relax = ITERM_RELAX_OFF,
.dBoostFactor = 1.0f, .dBoostFactor = 1.0f,
.dBoostMaxAtAlleceleration = 7500.0f, .dBoostMaxAtAlleceleration = 7500.0f,
.dBoostGyroDeltaLpfHz = D_BOOST_GYRO_LPF_HZ,
); );
void pidInit(void) void pidInit(void)
@ -251,7 +252,7 @@ void pidInit(void)
dBoostMaxAtAlleceleration = pidProfile()->dBoostMaxAtAlleceleration; dBoostMaxAtAlleceleration = pidProfile()->dBoostMaxAtAlleceleration;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { 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 #endif

1
src/main/flight/pid.h
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@ -130,6 +130,7 @@ typedef struct pidProfile_s {
float dBoostFactor; float dBoostFactor;
float dBoostMaxAtAlleceleration; float dBoostMaxAtAlleceleration;
uint8_t dBoostGyroDeltaLpfHz;
} pidProfile_t; } pidProfile_t;
typedef struct pidAutotuneConfig_s { typedef struct pidAutotuneConfig_s {