Update IMU gyro and D term filter defaults #9070
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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).
LorenzMeier
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Mar 13, 2018
mhkabir
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Mar 13, 2018
This was referenced Mar 26, 2018
bkueng
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Apr 24, 2018
The description of IMU_GYRO_CUTOFF was incorrectly saying that it only affects the driver filtering, but in fact it also set the on-chip filter to the next higher supported value. This patch fixes that. And because the IMU_GYRO_CUTOFF and not the IMU_ACCEL_CUTOFF was used for the on-chip filter, after #9070 which sets the default gyro filter to 80, we were effectively using a dlpf of 98 Hz. For this reason this patch changes the on-chip cutoff frequency to 98 as well, so that the overall default behavior is unchanged.
LorenzMeier
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Apr 25, 2018
The description of IMU_GYRO_CUTOFF was incorrectly saying that it only affects the driver filtering, but in fact it also set the on-chip filter to the next higher supported value. This patch fixes that. And because the IMU_GYRO_CUTOFF and not the IMU_ACCEL_CUTOFF was used for the on-chip filter, after #9070 which sets the default gyro filter to 80, we were effectively using a dlpf of 98 Hz. For this reason this patch changes the on-chip cutoff frequency to 98 as well, so that the overall default behavior is unchanged.
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This sets IMU_GYRO_CUTOFF to 80 and enables the D-term filter by setting MC_DTERM_CUTOFF to 30.
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.
The next step is to disable/adjust the on-chip filter (#8731).
Fixes #8962.