From 4ff280209511e242205da2c38ee10b8b2a649735 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Tue, 9 Aug 2016 16:18:06 +0200
Subject: [PATCH] Fix CPU bug due toe reinitialising of filters

---
 src/main/config/config.c | 2 +-
 src/main/flight/pid.c    | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index b8b5cf11e..6ffaf93d2 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -247,7 +247,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->dtermSetpointWeight = 120;
     pidProfile->yawRateAccelLimit = 220;
     pidProfile->rateAccelLimit = 0;
-    pidProfile->toleranceBand = 15;
+    pidProfile->toleranceBand = 0;
     pidProfile->toleranceBandReduction = 40;
     pidProfile->zeroCrossAllowanceCount = 2;
     pidProfile->itermThrottleGain = 0;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 0f91875e2..09364a8b3 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -116,11 +116,13 @@ void initFilters(const pidProfile_t *pidProfile) {
     if (pidProfile->dterm_notch_hz && !dtermNotchInitialised) {
         float notchQ = filterGetNotchQ(pidProfile->dterm_notch_hz, pidProfile->dterm_notch_cutoff);
         for (axis = 0; axis < 3; axis++) biquadFilterInit(&dtermFilterNotch[axis], pidProfile->dterm_notch_hz, gyro.targetLooptime, notchQ, FILTER_NOTCH);
+        dtermNotchInitialised = true;
     }
 
     if (pidProfile->dterm_filter_type == FILTER_BIQUAD) {
         if (pidProfile->dterm_lpf_hz && !dtermBiquadLpfInitialised) {
             for (axis = 0; axis < 3; axis++) biquadFilterInitLPF(&dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, gyro.targetLooptime);
+            dtermBiquadLpfInitialised = true;
         }
     }
 }