Update filter.c

emuflight · Feb 29, 2020 · 8547dd9 · 8547dd9
1 parent b330fff
commit 8547dd9
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/filter/filter.c b/src/filter/filter.c
@@ -145,9 +145,9 @@ void filter_data(volatile axisData_t *gyroRateData, volatile axisData_t *gyroAcc
 
 // give a boost to the setpoint, used to caluclate the filter cutoff, based on the error and setpoint/gyrodata
 
-	errorMultiplierX = CONSTRAIN(errorMultiplierX * ABS(1.0f - (setPoint.x / filteredData->rateData.x)) + 1.0f, 1.0f, 10.0f);
-	errorMultiplierY = CONSTRAIN(errorMultiplierY * ABS(1.0f - (setPoint.y / filteredData->rateData.y)) + 1.0f, 1.0f, 10.0f);
-	errorMultiplierZ = CONSTRAIN(errorMultiplierZ * ABS(1.0f - (setPoint.z / filteredData->rateData.z)) + 1.0f, 1.0f, 10.0f);
+	errorMultiplierX = CONSTRAIN(errorMultiplierX * ABS(1.0f - (setPoint.x / filteredData->rateData.x)) + 1.0f, 1.0f, 50.0f);
+	errorMultiplierY = CONSTRAIN(errorMultiplierY * ABS(1.0f - (setPoint.y / filteredData->rateData.y)) + 1.0f, 1.0f, 50.0f);
+	errorMultiplierZ = CONSTRAIN(errorMultiplierZ * ABS(1.0f - (setPoint.z / filteredData->rateData.z)) + 1.0f, 1.0f, 50.0f);
 
 
 	if (setPointNew)