0.2.34

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.
emuflight · Feb 29, 2020 · dbfca3c · dbfca3c
1 parent ae4b390
commit dbfca3c
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Showing 5 changed files with 9 additions and 9 deletions.
diff --git a/src/main/build/version.h b/src/main/build/version.h
@@ -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
 
 
 

diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
@@ -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 },

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -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,

diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
@@ -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) },
@@ -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) },

diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
@@ -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,