Changed defaults

lkaino · Jul 24, 2016 · eb5d0df · eb5d0df
1 parent e578480
commit eb5d0df
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Showing 4 changed files with 12 additions and 12 deletions.
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
@@ -105,7 +105,7 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .tri_servo_mid_adc = 0,
     .tri_servo_max_adc = 0,
     .tri_servo_feedback = DEFAULT_SERVO_FEEDBACK_SOURCE,
-    .tri_motor_acc_yaw_correction = 10,
+    .tri_motor_acc_yaw_correction = 27,
     .tri_motor_acceleration = 0.18f,
 );
 #else

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -75,15 +75,15 @@ PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE
 
 PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
     .pidController = PID_CONTROLLER_MWREWRITE,
-    .P8[PIDROLL] = 40,
+    .P8[PIDROLL] = 41,
     .I8[PIDROLL] = 24,
-    .D8[PIDROLL] = 30,
-    .P8[PIDPITCH] = 38,
+    .D8[PIDROLL] = 38,
+    .P8[PIDPITCH] = 35,
     .I8[PIDPITCH] = 23,
-    .D8[PIDPITCH] = 20,
-    .P8[PIDYAW] = 70,
-    .I8[PIDYAW] = 10,
-    .D8[PIDYAW] = 35,
+    .D8[PIDPITCH] = 27,
+    .P8[PIDYAW] = 144,
+    .I8[PIDYAW] = 30,
+    .D8[PIDYAW] = 80,
     .P8[PIDALT] = 50,
     .I8[PIDALT] = 0,
     .D8[PIDALT] = 0,
@@ -105,7 +105,7 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
     .D8[PIDVEL] = 1,
 
     .yaw_p_limit = YAW_P_LIMIT_MAX,
-    .dterm_cut_hz = 40,
+    .dterm_cut_hz = 95,
 );
 
 void pidResetITerm(void)

diff --git a/src/main/io/rate_profile.c b/src/main/io/rate_profile.c
@@ -53,8 +53,8 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *instance)
             .rates[FD_PITCH] = 38,
             .rates[FD_ROLL] = 38,
             .rates[FD_YAW] = 50,
-            .tri_dynamic_yaw_minthrottle = 250,
-            .tri_dynamic_yaw_maxthrottle = 60,
+            .tri_dynamic_yaw_minthrottle = 235,
+            .tri_dynamic_yaw_maxthrottle = 50,
         );
     }
 }

diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
@@ -60,7 +60,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
 
 PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_lpf = 1,                 // supported by all gyro drivers now. In case of ST gyro, will default to 32Hz instead
-    .soft_gyro_lpf_hz = 60,        // Software based lpf filter for gyro
+    .soft_gyro_lpf_hz = 95,        // Software based lpf filter for gyro
 
     .gyroMovementCalibrationThreshold = 32,
 );