rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Reset out of range filter cutoffs (#8512) 

Reset out of range filter cutoffs
This commit is contained in:
Michael Keller 2019-07-03 01:22:52 +12:00 committed by GitHub
parent c7550a7806 2d6b6599f9
commit 07097431d2
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 23 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
src/main/fc/config.c
View File

@ -162,6 +162,13 @@ static void activateConfig(void)
#endif
}
static void adjustFilterLimit(uint16_t *parm, uint16_t resetValue)
{
if (*parm > FILTER_FREQUENCY_MAX) {
*parm = resetValue;
}
}
static void validateAndFixConfig(void)
{
#if !defined(USE_QUAD_MIXER_ONLY)
@ -200,6 +207,13 @@ static void validateAndFixConfig(void)
}
for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
// Fix filter settings to handle cases where an older configurator was used that
// allowed higher cutoff limits from previous firmware versions.
adjustFilterLimit(&pidProfilesMutable(i)->dterm_lowpass_hz, FILTER_FREQUENCY_MAX);
adjustFilterLimit(&pidProfilesMutable(i)->dterm_lowpass2_hz, FILTER_FREQUENCY_MAX);
adjustFilterLimit(&pidProfilesMutable(i)->dterm_notch_hz, FILTER_FREQUENCY_MAX);
adjustFilterLimit(&pidProfilesMutable(i)->dterm_notch_cutoff, 0);
// Prevent invalid notch cutoff
if (pidProfilesMutable(i)->dterm_notch_cutoff >= pidProfilesMutable(i)->dterm_notch_hz) {
pidProfilesMutable(i)->dterm_notch_hz = 0;
@ -513,6 +527,15 @@ void validateAndFixGyroConfig(void)
}
#endif
// Fix gyro filter settings to handle cases where an older configurator was used that
// allowed higher cutoff limits from previous firmware versions.
adjustFilterLimit(&gyroConfigMutable()->gyro_lowpass_hz, FILTER_FREQUENCY_MAX);
adjustFilterLimit(&gyroConfigMutable()->gyro_lowpass2_hz, FILTER_FREQUENCY_MAX);
adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_hz_1, FILTER_FREQUENCY_MAX);
adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_cutoff_1, 0);
adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_hz_2, FILTER_FREQUENCY_MAX);
adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_cutoff_2, 0);
// Prevent invalid notch cutoff
if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;