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imu filter defaults: set IMU_GYRO_CUTOFF to 80 and MC_DTERM_CUTOFF to 30

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tested on at least 5 different vehicles, including AeroFC. The values
should be conservative, good setups (with low vibrations) can increase
these values even further.

increasing IMU_GYRO_CUTOFF allows for better tuning gains (increased P).
This commit is contained in:
Beat Küng 2018-03-13 17:41:18 +01:00 committed by Lorenz Meier
parent a99e49a856
commit 2bcc5cf3e5
2 changed files with 2 additions and 2 deletions
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2
src/modules/mc_att_control/mc_att_control_params.c
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@ -570,4 +570,4 @@ PARAM_DEFINE_FLOAT(MC_TPA_RATE_D, 0.0f);
* @increment 10
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 0.f);
PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 30.f);

2
src/modules/sensors/sensor_params.c
View File

@ -248,7 +248,7 @@ PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 80.0f);
/**
* Driver level cutoff frequency for accel