Set default PID DENOM

betaflight · Jun 13, 2023 · c3f9174 · c3f9174
1 parent 7d1007e
commit c3f9174
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Showing 4 changed files with 11 additions and 3 deletions.
diff --git a/src/main/config/config.c b/src/main/config/config.c
@@ -682,6 +682,12 @@ void validateAndFixGyroConfig(void)
         }
 #endif
 
+#if defined(USE_GYRO_DENOM_CHECK) && (defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270))
+        if (gyro.gyroSensor1.gyroDev.gyroHardware == GYRO_BMI160 || gyro.gyroSensor1.gyroDev.gyroHardware == GYRO_BMI270) {
+            pidConfigMutable()->pid_process_denom = 1;
+        }
+#endif
+
         switch (motorConfig()->dev.motorPwmProtocol) {
         case PWM_TYPE_STANDARD:
                 motorUpdateRestriction = 1.0f / BRUSHLESS_MOTORS_PWM_RATE;

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -90,13 +90,11 @@ pt1Filter_t throttleLpf;
 
 PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 3);
 
-#if !defined(DEFAULT_PID_PROCESS_DENOM)
-#if defined(STM32F411xE)
+#if !defined(DEFAULT_PID_PROCESS_DENOM) && defined(USE_GYRO_DENOM_CHECK)
 #define DEFAULT_PID_PROCESS_DENOM       2
 #else
 #define DEFAULT_PID_PROCESS_DENOM       1
 #endif
-#endif
 
 #ifdef USE_RUNAWAY_TAKEOFF
 PG_RESET_TEMPLATE(pidConfig_t, pidConfig,

diff --git a/src/main/target/STM32F405/target.h b/src/main/target/STM32F405/target.h
@@ -78,4 +78,6 @@
 
 #define USE_EXTI
 
+#define USE_GYRO_DENOM_CHECK
+
 #define FLASH_PAGE_SIZE ((uint32_t)0x4000) // 16K sectors
diff --git a/src/main/target/STM32F411/target.h b/src/main/target/STM32F411/target.h
@@ -77,4 +77,6 @@
 
 #define USE_EXTI
 
+#define USE_GYRO_DENOM_CHECK
+
 #define FLASH_PAGE_SIZE ((uint32_t)0x4000) // 16K sectors