Fix CPU bug due toe reinitialising of filters
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@ -247,7 +247,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->dtermSetpointWeight = 120;
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pidProfile->yawRateAccelLimit = 220;
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pidProfile->rateAccelLimit = 0;
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pidProfile->toleranceBand = 15;
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pidProfile->toleranceBand = 0;
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pidProfile->toleranceBandReduction = 40;
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pidProfile->zeroCrossAllowanceCount = 2;
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pidProfile->itermThrottleGain = 0;
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@ -116,11 +116,13 @@ void initFilters(const pidProfile_t *pidProfile) {
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if (pidProfile->dterm_notch_hz && !dtermNotchInitialised) {
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float notchQ = filterGetNotchQ(pidProfile->dterm_notch_hz, pidProfile->dterm_notch_cutoff);
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for (axis = 0; axis < 3; axis++) biquadFilterInit(&dtermFilterNotch[axis], pidProfile->dterm_notch_hz, gyro.targetLooptime, notchQ, FILTER_NOTCH);
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dtermNotchInitialised = true;
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}
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if (pidProfile->dterm_filter_type == FILTER_BIQUAD) {
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if (pidProfile->dterm_lpf_hz && !dtermBiquadLpfInitialised) {
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for (axis = 0; axis < 3; axis++) biquadFilterInitLPF(&dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, gyro.targetLooptime);
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dtermBiquadLpfInitialised = true;
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}
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}
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}
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