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0.2.34
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increasing the maximum value for IMUF Sharpness made to test higher values as well as imuf 227 which uses a more filtering and will therefore need more sharpness to get working nicely. Lets see how this works.
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Quick-Flash committed Feb 29, 2020
1 parent ae4b390 commit dbfca3c
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Showing 5 changed files with 9 additions and 9 deletions.
2 changes: 1 addition & 1 deletion src/main/build/version.h
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Expand Up @@ -25,7 +25,7 @@
#define FC_FIRMWARE_NAME "EmuFlight"
#define FC_VERSION_MAJOR 0 // increment when a major release is made (big new feature, etc)
#define FC_VERSION_MINOR 2 // increment when a minor release is made (small new feature, change etc)
#define FC_VERSION_PATCH_LEVEL 33 // increment when a bug is fixed
#define FC_VERSION_PATCH_LEVEL 34 // increment when a bug is fixed



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2 changes: 1 addition & 1 deletion src/main/cms/cms_menu_imu.c
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Expand Up @@ -608,7 +608,7 @@ static OSD_Entry cmsx_menuImufEntries[] =
{ "ROLL Q", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_roll_q, 0, 16000, 100 }, 0 },
{ "PITCH Q", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_pitch_q, 0, 16000, 100 }, 0 },
{ "YAW Q", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_yaw_q, 0, 16000, 100 }, 0 },
{ "IMUF SHARPNESS", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_sharpness, 1, 500, 5 }, 0 },
{ "IMUF SHARPNESS", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_sharpness, 1, 5000, 5 }, 0 },
{ "ROLL LPF", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_roll_lpf_cutoff_hz, 0, 450, 1 }, 0 },
{ "PITCH LPF", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_pitch_lpf_cutoff_hz, 0, 450, 1 }, 0 },
{ "YAW LPF", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_yaw_lpf_cutoff_hz, 0, 450, 1 }, 0 },
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6 changes: 3 additions & 3 deletions src/main/flight/pid.c
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Expand Up @@ -133,9 +133,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
},

.dFilter = {
[PID_ROLL] = { 2, 100, 250, 50 },
[PID_PITCH] = { 2, 100, 250, 50 },
[PID_YAW] = { 0, 100, 250, 0 },
[PID_ROLL] = { 2, 100, 250, 50 }, // wc, dtermlpf, dtermlpf2, smartSmoothing
[PID_PITCH] = { 2, 100, 250, 50 }, // wc, dtermlpf, dtermlpf2, smartSmoothing
[PID_YAW] = { 0, 100, 250, 0 }, // wc, dtermlpf, dtermlpf2, smartSmoothing
},

.pidSumLimit = PIDSUM_LIMIT_MAX,
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6 changes: 3 additions & 3 deletions src/main/interface/settings.c
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Expand Up @@ -496,8 +496,8 @@ const clivalue_t valueTable[] = {
{ "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2) },
{ "gyro_notch2_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_2) },

{ "gyro_calib_duration", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 50, 3000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroCalibrationDuration) },
{ "gyro_calib_noise_limit", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) },
{ "gyro_calib_duration", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 50, 3000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroCalibrationDuration) },
{ "gyro_calib_noise_limit", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) },
{ "gyro_offset_yaw", VAR_INT16 | MASTER_VALUE, .config.minmax = { -1000, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_offset_yaw) },
#ifdef USE_GYRO_IMUF9001
{ "imuf_rate", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_IMUF_RATE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, imuf_rate) },
Expand All @@ -509,7 +509,7 @@ const clivalue_t valueTable[] = {
{ "imuf_roll_lpf_cutoff_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 450 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, imuf_roll_lpf_cutoff_hz) },
{ "imuf_yaw_lpf_cutoff_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 450 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, imuf_yaw_lpf_cutoff_hz) },
{ "imuf_acc_lpf_cutoff_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 30, 180 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, imuf_acc_lpf_cutoff_hz) },
{ "imuf_sharpness", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 500 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, imuf_sharpness) },
{ "imuf_sharpness", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 5000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, imuf_sharpness) },
#else
{ "imuf_roll_q", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, imuf_roll_q) },
{ "imuf_pitch_q", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, imuf_pitch_q) },
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2 changes: 1 addition & 1 deletion src/main/sensors/gyro.c
Original file line number Diff line number Diff line change
Expand Up @@ -256,7 +256,7 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.imuf_pitch_lpf_cutoff_hz = IMUF_DEFAULT_LPF_HZ,
.imuf_yaw_lpf_cutoff_hz = IMUF_DEFAULT_LPF_HZ,
.imuf_acc_lpf_cutoff_hz = IMUF_DEFAULT_ACC_LPF_HZ,
.imuf_sharpness = 35,
.imuf_sharpness = 75,
.gyro_offset_yaw = 0,
.averagedGyro[ROLL] = 0,
.averagedGyro[PITCH] = 0,
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