Fix default PID DENOM (betaflight#12509)

* Set default PID DENOM * Fixes after Karate review * Fixes after Karate review v2 * Use gyro.sampleRateHz * Fixes after discussion
davidbitton · Feb 5, 2024 · f55fb2d · f55fb2d
1 parent cfa483b
commit f55fb2d
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Showing 5 changed files with 18 additions and 10 deletions.
diff --git a/src/main/config/config.c b/src/main/config/config.c
@@ -673,15 +673,19 @@ void validateAndFixGyroConfig(void)
         // check for looptime restrictions based on motor protocol. Motor times have safety margin
         float motorUpdateRestriction;
 
-#if defined(STM32F4) || defined(STM32G4)
+#if defined(USE_DSHOT) && defined(USE_PID_DENOM_CHECK)
         /* If bidirectional DSHOT is being used on an F4 or G4 then force DSHOT300. The motor update restrictions then applied
          * will automatically consider the loop time and adjust pid_process_denom appropriately
          */
-        if (motorConfig()->dev.useDshotTelemetry && (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_DSHOT600)) {
-            motorConfigMutable()->dev.motorPwmProtocol = PWM_TYPE_DSHOT300;
+        if (motorConfig()->dev.useDshotTelemetry) {
+            if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_DSHOT600) {
+                motorConfigMutable()->dev.motorPwmProtocol = PWM_TYPE_DSHOT300;
+            }
+            if (gyro.sampleRateHz > 4000) {
+                pidConfigMutable()->pid_process_denom = 2;
+            }
         }
-#endif
-
+#endif // USE_DSHOT && USE_PID_DENOM_CHECK
         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 +90,9 @@ pt1Filter_t throttleLpf;
 
 PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 3);
 
-#if !defined(DEFAULT_PID_PROCESS_DENOM)
-#if defined(STM32F411xE)
-#define DEFAULT_PID_PROCESS_DENOM       2
-#else
+#ifndef DEFAULT_PID_PROCESS_DENOM
 #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
@@ -79,4 +79,6 @@
 
 #define USE_EXTI
 
+#define USE_PID_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
@@ -78,4 +78,6 @@
 
 #define USE_EXTI
 
+#define USE_PID_DENOM_CHECK
+
 #define FLASH_PAGE_SIZE ((uint32_t)0x4000) // 16K sectors
diff --git a/src/main/target/STM32G47X/target.h b/src/main/target/STM32G47X/target.h
@@ -72,5 +72,9 @@
 #define USE_ESCSERIAL
 
 #define USE_ADC
+
 #define USE_EXTI
+
+#define USE_PID_DENOM_CHECK
+
 #define USE_TIMER_UP_CONFIG