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atbetaflight
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Increase Acc update in 1khz mode // cleanup

This commit is contained in:
borisbstyle 2016-01-10 21:21:11 +01:00
parent a42aed332b
commit e0e7db74f1
3 changed files with 11 additions and 9 deletions
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6
src/main/config/config.c
View File

@ -177,8 +177,6 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->D8[PIDVEL] = 1;
pidProfile->gyro_soft_lpf = 1; // filtering ON by default
pidProfile->dterm_cut_hz = 0;
pidProfile->delta_from_gyro_error = 0;
pidProfile->airModeInsaneAcrobilityFactor = 0;
pidProfile->P_f[ROLL] = 1.5f; // new PID with preliminary defaults test carefully
@ -570,10 +568,6 @@ static void resetConf(void)
masterConfig.rxConfig.rcmap[6] = 6;
masterConfig.rxConfig.rcmap[7] = 7;
//masterConfig.gyro_lpf = 188;
//masterConfig.profile[0].pidProfile.pterm_cut_hz = 50;
//masterConfig.profile[0].pidProfile.dterm_cut_hz = 17;
masterConfig.rxConfig.rcSmoothing = 0;
currentProfile->pidProfile.pidController = 2;

2
src/main/flight/pid.h
View File

@ -59,8 +59,6 @@ typedef struct pidProfile_s {
uint8_t H_sensitivity;
uint16_t airModeInsaneAcrobilityFactor; // Air mode acrobility factor
uint8_t dterm_cut_hz; // (default 17Hz, Range 1-50Hz) Used for PT1 element in PID1, PID2 and PID5
uint8_t delta_from_gyro_error; // Used for filering Pterm noise on noisy frames
uint8_t gyro_soft_lpf; // Gyro FIR filter
#ifdef GTUNE

12
src/main/main.c
View File

@ -548,7 +548,17 @@ int main(void) {
rescheduleTask(TASK_GYROPID, targetLooptime - INTERRUPT_WAIT_TIME);
setTaskEnabled(TASK_GYROPID, true);
setTaskEnabled(TASK_ACCEL, sensors(SENSOR_ACC));
if(sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
switch(targetLooptime) {
case(500):
rescheduleTask(TASK_ACCEL, 10000);
break;
default:
case(1000):
rescheduleTask(TASK_ACCEL, 1000);
}
}
setTaskEnabled(TASK_SERIAL, true);
setTaskEnabled(TASK_BEEPER, true);
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));