Change simplified tuning filter slider calculation

Add dterm part Remove unneeded resets Save lowpass_type with simplified tuning
betaflight · Nov 7, 2021 · 1fdaaa3 · 1fdaaa3
1 parent daf202e
commit 1fdaaa3
Showing 1 changed file with 40 additions and 12 deletions.
diff --git a/src/main/config/simplified_tuning.c b/src/main/config/simplified_tuning.c
@@ -65,22 +65,50 @@ static void calculateNewPidValues(pidProfile_t *pidProfile)
 
 static void calculateNewDTermFilterValues(pidProfile_t *pidProfile)
 {
-    pidProfile->dterm_lpf1_dyn_min_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
-    pidProfile->dterm_lpf1_dyn_max_hz = constrain(DTERM_LPF1_DYN_MAX_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
-    pidProfile->dterm_lpf1_static_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
-    pidProfile->dterm_lpf2_static_hz = constrain(DTERM_LPF2_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, LPF_MAX_HZ);
-    pidProfile->dterm_lpf1_type = FILTER_PT1;
-    pidProfile->dterm_lpf2_type = FILTER_PT1;
+    if (pidProfile->dterm_lpf1_dyn_min_hz) {
+        pidProfile->dterm_lpf1_dyn_min_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
+        pidProfile->dterm_lpf1_dyn_max_hz = constrain(DTERM_LPF1_DYN_MAX_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
+    }
+
+    if (pidProfile->dterm_lpf1_static_hz) {
+        pidProfile->dterm_lpf1_static_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
+    }
+
+    if (pidProfile->dterm_lpf2_static_hz) {
+        pidProfile->dterm_lpf2_static_hz = constrain(DTERM_LPF2_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, LPF_MAX_HZ);
+    }
+
+    if (!pidProfile->dterm_lpf1_type) {
+        pidProfile->dterm_lpf1_type = FILTER_PT1;
+    }
+
+    if (!pidProfile->dterm_lpf2_type) {
+        pidProfile->dterm_lpf2_type = FILTER_PT1;
+    }
 }
 
 static void calculateNewGyroFilterValues()
 {
-    gyroConfigMutable()->gyro_lpf1_dyn_min_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
-    gyroConfigMutable()->gyro_lpf1_dyn_max_hz = constrain(GYRO_LPF1_DYN_MAX_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
-    gyroConfigMutable()->gyro_lpf1_static_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
-    gyroConfigMutable()->gyro_lpf2_static_hz = constrain(GYRO_LPF2_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, LPF_MAX_HZ);
-    gyroConfigMutable()->gyro_lpf1_type = FILTER_PT1;
-    gyroConfigMutable()->gyro_lpf2_type = FILTER_PT1;
+    if (gyroConfigMutable()->gyro_lpf1_dyn_min_hz) {
+        gyroConfigMutable()->gyro_lpf1_dyn_min_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
+        gyroConfigMutable()->gyro_lpf1_dyn_max_hz = constrain(GYRO_LPF1_DYN_MAX_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
+    }
+
+    if (gyroConfigMutable()->gyro_lpf1_static_hz) {
+        gyroConfigMutable()->gyro_lpf1_static_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
+    }
+
+    if (gyroConfigMutable()->gyro_lpf2_static_hz) {
+        gyroConfigMutable()->gyro_lpf2_static_hz = constrain(GYRO_LPF2_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, LPF_MAX_HZ);
+    }
+
+    if (!gyroConfigMutable()->gyro_lpf1_type) {
+        gyroConfigMutable()->gyro_lpf1_type = FILTER_PT1;
+    }
+
+    if (!gyroConfigMutable()->gyro_lpf2_type) {
+        gyroConfigMutable()->gyro_lpf2_type = FILTER_PT1;
+    }
 }
 
 void applySimplifiedTuning(pidProfile_t *pidProfile)