Merge pull request #6963 from iNavFlight/dzikuvx-gyro_antialiasting-t…

…o-int16 Increase the max range of gyro antialiasing filter to 1000Hz
iNavFlight · May 15, 2021 · 7b6a37a · 7b6a37a
2 parents fe87715 + 6c18158
commit 7b6a37a
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Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -152,7 +152,7 @@
 | gyro_abg_alpha | 0 | 0 | 1 | Alpha factor for Gyro Alpha-Beta-Gamma filter |
 | gyro_abg_boost | 0.35 | 0 | 2 | Boost factor for Gyro Alpha-Beta-Gamma filter |
 | gyro_abg_half_life | 0.5 | 0 | 10 | Sample half-life for Gyro Alpha-Beta-Gamma filter |
-| gyro_anti_aliasing_lpf_hz | 250 |  | 255 | Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz |
+| gyro_anti_aliasing_lpf_hz | 250 |  | 1000 | Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz |
 | gyro_anti_aliasing_lpf_type | PT1 |  |  | Specifies the type of the software LPF of the gyro signals. |
 | gyro_dyn_lpf_curve_expo | 5 | 1 | 10 | Expo value for the throttle-to-frequency mapping for Dynamic LPF |
 | gyro_dyn_lpf_max_hz | 500 | 40 | 1000 | Maximum frequency of the gyro Dynamic LPF |

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -214,7 +214,7 @@ groups:
         description: "Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz"
         default_value: 250
         field: gyro_anti_aliasing_lpf_hz
-        max: 255
+        max: 1000
       - name: gyro_anti_aliasing_lpf_type
         description: "Specifies the type of the software LPF of the gyro signals."
         default_value: "PT1"

diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
@@ -111,7 +111,7 @@ STATIC_FASTRAM alphaBetaGammaFilter_t abgFilter[XYZ_AXIS_COUNT];
 
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 13);
+PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 14);
 
 PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_lpf = SETTING_GYRO_HARDWARE_LPF_DEFAULT,

diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
@@ -63,7 +63,7 @@ typedef struct gyroConfig_s {
     uint8_t  gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
     uint16_t looptime;                      // imu loop time in us
     uint8_t  gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
-    uint8_t  gyro_anti_aliasing_lpf_hz;
+    uint16_t  gyro_anti_aliasing_lpf_hz;
     uint8_t  gyro_anti_aliasing_lpf_type;
 #ifdef USE_DUAL_GYRO
     uint8_t  gyro_to_use;