From 705d3939eb5f793a46f34ca904f34152052975b8 Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris.thompson@sydney.edu.au>
Date: Sun, 3 Jun 2018 21:39:51 +1000
Subject: [PATCH] Initial default suggestions for 3.4

Set default RC smoothing channels to RPYT

first attempt at enabling features by default

update filter notes
---
 src/main/config/feature.c |  2 +-
 src/main/flight/pid.c     | 26 +++++++++++++-------------
 src/main/pg/rx.c          |  2 +-
 src/main/sensors/gyro.c   | 12 ++++++------
 4 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/src/main/config/feature.c b/src/main/config/feature.c
index 92d65a15c..f054c12bd 100644
--- a/src/main/config/feature.c
+++ b/src/main/config/feature.c
@@ -34,7 +34,7 @@ static uint32_t activeFeaturesLatch = 0;
 PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
 
 PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
-    .enabledFeatures = DEFAULT_FEATURES | DEFAULT_RX_FEATURE
+    .enabledFeatures = DEFAULT_FEATURES | DEFAULT_RX_FEATURE | FEATURE_DYNAMIC_FILTER | FEATURE_ANTI_GRAVITY,
 );
 
 void intFeatureSet(uint32_t mask, uint32_t *features)
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 4707b74ab..9c280b3b2 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -100,9 +100,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
 {
     RESET_CONFIG(pidProfile_t, pidProfile,
         .pid = {
-            [PID_ROLL] =  { 40, 40, 30 },
-            [PID_PITCH] = { 58, 50, 35 },
-            [PID_YAW] =   { 70, 45, 20 },
+            [PID_ROLL] =  { 46, 45, 25 },
+            [PID_PITCH] = { 50, 50, 27 },
+            [PID_YAW] =   { 65, 45, 20 },
             [PID_ALT] =   { 50, 0, 0 },
             [PID_POS] =   { 15, 0, 0 },     // POSHOLD_P * 100, POSHOLD_I * 100,
             [PID_POSR] =  { 34, 14, 53 },   // POSHOLD_RATE_P * 10, POSHOLD_RATE_I * 100, POSHOLD_RATE_D * 1000,
@@ -115,21 +115,21 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .pidSumLimit = PIDSUM_LIMIT,
         .pidSumLimitYaw = PIDSUM_LIMIT_YAW,
         .yaw_lowpass_hz = 0,
-        .dterm_lowpass_hz = 100,    // filtering ON by default
-        .dterm_lowpass2_hz = 0,     // second Dterm LPF OFF by default
-        .dterm_notch_hz = 260,
+        .dterm_lowpass_hz = 100,    // dual PT1 filtering ON by default
+        .dterm_lowpass2_hz = 200,   // second Dterm LPF ON by default
+        .dterm_notch_hz = 0,
         .dterm_notch_cutoff = 160,
-        .dterm_filter_type = FILTER_BIQUAD,
-        .itermWindupPointPercent = 50,
+        .dterm_filter_type = FILTER_PT1,
+        .itermWindupPointPercent = 40,
         .vbatPidCompensation = 0,
         .pidAtMinThrottle = PID_STABILISATION_ON,
         .levelAngleLimit = 55,
-        .setpointRelaxRatio = 100,
-        .dtermSetpointWeight = 45,
+        .setpointRelaxRatio = 0,
+        .dtermSetpointWeight = 60,
         .yawRateAccelLimit = 100,
         .rateAccelLimit = 0,
         .itermThrottleThreshold = 350,
-        .itermAcceleratorGain = 1000,
+        .itermAcceleratorGain = 5000,
         .crash_time = 500,          // ms
         .crash_delay = 0,           // ms
         .crash_recovery_angle = 10, // degrees
@@ -142,9 +142,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .horizon_tilt_expert_mode = false,
         .crash_limit_yaw = 200,
         .itermLimit = 150,
-        .throttle_boost = 0,
+        .throttle_boost = 5,
         .throttle_boost_cutoff = 15,
-        .iterm_rotation = false,
+        .iterm_rotation = true,
         .smart_feedforward = false,
         .iterm_relax = ITERM_RELAX_OFF,
         .iterm_relax_cutoff = 11,
diff --git a/src/main/pg/rx.c b/src/main/pg/rx.c
index 5dcdadba4..2bef6d3d1 100644
--- a/src/main/pg/rx.c
+++ b/src/main/pg/rx.c
@@ -56,7 +56,7 @@ void pgResetFn_rxConfig(rxConfig_t *rxConfig)
         .rssi_offset = 0,
         .rssi_invert = 0,
         .rcInterpolation = RC_SMOOTHING_AUTO,
-        .rcInterpolationChannels = INTERPOLATION_CHANNELS_RP,
+        .rcInterpolationChannels = INTERPOLATION_CHANNELS_RPT,
         .rcInterpolationInterval = 19,
         .fpvCamAngleDegrees = 0,
         .airModeActivateThreshold = 32,
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 568ba0046..5d62ff66a 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -183,16 +183,16 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL,
     .gyro_32khz_hardware_lpf = GYRO_32KHZ_HARDWARE_LPF_NORMAL,
     .gyro_lowpass_type = FILTER_PT1,
-    .gyro_lowpass_hz = 90,
+    .gyro_lowpass_hz = 100,
     .gyro_lowpass2_type = FILTER_PT1,
-    .gyro_lowpass2_hz = 0,
+    .gyro_lowpass2_hz = 300,
     .gyro_high_fsr = false,
     .gyro_use_32khz = false,
     .gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT,
-    .gyro_soft_notch_hz_1 = 400,
-    .gyro_soft_notch_cutoff_1 = 300,
-    .gyro_soft_notch_hz_2 = 200,
-    .gyro_soft_notch_cutoff_2 = 100,
+    .gyro_soft_notch_hz_1 = 0,
+    .gyro_soft_notch_cutoff_1 = 0,
+    .gyro_soft_notch_hz_2 = 0,
+    .gyro_soft_notch_cutoff_2 = 0,
     .checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES,
     .gyro_offset_yaw = 0,
     .yaw_spin_recovery = true,